I was wondering if it would be possible to do something like this: Vision-based Autonomous Navigation and Mapping with a Small Quadrotor without using lidar/lasers.

I have tried ORB-SLAM, but the maps that are generated are too sparse for a person to get any meaningful sense from the map.

  • $\begingroup$ here is the answer: youtube.com/watch?v=yfKccCmmMsM $\endgroup$ – C.O Park Nov 19 '19 at 3:41
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    $\begingroup$ The video you linked to is only using Cameras and IMU. If you want a more dense map then you need to combine ORB-SLAM with a dense mapping algorithm like Octomap. $\endgroup$ – edwinem Nov 19 '19 at 18:55

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