<![CDATA[Quadcopter is an Unmanned Aerial Vehicle or UAV which has four propellers on its four sides. Nowadays quadcopter often used to help enrich human's life. Quadcopters need basic abilities. One of basic ability it needs is moving. To be able to move automatically the prerequisite is positioning. Positioning is used to determine quadcopter position in an environment. In robotics this problem is named Simultaneous Localization and Mapping or SLAM. Robot system usually uses Global Positioning System (GPS) to determine its location. GPS is primary method to determine robot position at outdoor environments. The problem occurs when GPS is being used in an indoor environment. GPS have low accuracy when used in a closed building. This problem made localization and mapping using GPS in an indoor environment rather difficult, thus another device is needed for SLAM processing. One of device that can be used to determine a quadcopter position is camera. In this research, writer will determine quadcopter position in an indoor environment using Large Scale Direct Monocular SLAM (LSD-SLAM) on an Ar.Drone 2.0. LSD-SLAM library will run using Robot Operating System (ROS) in a Ground Control System (GCS) computer. The results show that Ar.Drone can send images to GCS computer very well. System also can determine movement estimation of quadcopter using images that sent from Ar.Drone integrated camera which will be processed by LSD-SLAM library.]]>
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