Abstract:
This project presents the design and implementation of an autonomous quadrotor system for
Visual Simultaneous Localization and Mapping (V-SLAM). We use a quaternion-based dynamic
model with cascaded P-PID control implemented on both Pixhawk 4 Mini (QAV250 configura-
tion) and Pixhawk 2.4.8 (X500 configuration) flight controllers. The ORB-SLAM3 algorithm is
deployed on a Jetson Orin Nano using an Intel RealSense D435 camera, supporting both stereo
and RGB-D modes, with real-time performance evaluation in ROS. The system’s theoretical
foundations, practical implementation challenges, and experimental validation are thoroughly
examined.
