Dr. Khalid Mehmood Ul Hasan

This project is based on implementation of SLAM during flight of quadcopter, along with generation of three dimensional map and wireless charging of LiPo battery while it lands on its base station. SLAM (Simultaneous Localization & Mapping) estimates the structure of the surrounding world (the map), while simultaneously getting localized in it, which will ultimately lead to cost map of surrounding environment. Readings obtained from RP Lidar sensor provides the data which creates a map immediately, also indicating position of quadcopter and obstacles near it. Manual mode is provided through which, control of throttle, yaw, roll and pitch of quadcopter is made possible. The most innovative feature of our project is 3-D mapping, which makes it possible to generate three dimensional layout of any place. It is implemented through SFM (Structure from Motion) which reconstructs 3-D geometry from multiple 2-D images by estimating camera positions. Live video stream is obtained from Raspberry Pi camera, mounted on quad-copter. This video stream is then transferred to base station which is converted into frames. These frames on processing generates a complete 3-D point clouds in base station. We have designed and implemented a wireless charging system through contact free power transfer mechanism called resonance inductive coupling, which enhance the efficiency of power transfer and is robust to imperfect alignment of coils. Wireless charging of the system is also controlled at base station by making use of load shifting topology

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