Abstract:The rapid development of drone has changed the way of our lifestyle by helping us to deal with many issues we were unable to solve before. Such as scanning a large farm area for tracking boars using the drone integrated CMOS camera and so on. In this research, we built a map for drone guidance system in order to detect a fee parking space. The Simultaneous Localization and Mapping (SLAM) is used as a control method. “SLAM”, is the process of mapping an area whilst keeping track of the location of the device within that area. A technology that enables autonomous flight even in an environment where GPS cannot be used . In addition, we used a Versatile and Accurate Monocular SLAM (ORB-SLAM) for real time operation and Large-Scale Direct Monocular Simultaneous Localization and Mapping (LSD-SLAM) which are typical SLAMs based visual SLAM. The experimental result shows that, although the generated map was somehow difficult to visualized but due the camera’s self-position estimation gave a rough route of the path which enable the drone to locate the free parking lots. Our future focus will be to implement the automatic flying system based on the generated map and the improvement of the ORB-SLAM features.

Keywords: slam; cmos camera ; orb-slam, parking lots; localization, guidance system