ARDrone autonomous indoor navigation by 3D slam

I just want to demonstrate our lab's recent result (also my bachelor thesis). 

It combined several ROS packages, for example, "ardrone_autonomy", "tum_ardrone", "MoveIt" and "tum-vision/lsd_slam" to make ARDrone 2.0 automatically explore unknown area and avoid obstacle by using OctoMap created from lsd_slam.

We used some matrix operation to re-scale the lsd_slam to real world scale. 

The purpose of the project is to emphasize the whole motion can be achieved by low-cost vehicle with monocular camera.

The experiment video is as follows.