Indoor laser-based SLAM for micro aerial vehicles

Indoor laser-based SLAM for micro aerial vehicles This article presents a laser-based 2D simultaneous localization and mapping (SLAM) algorithm for indoor environments. An adaption and optimization of a ground vehicle SLAM solution (TinySLAM) for the use with Micro Aerial Vehicles is proposed. Optimizations of the map update strategy and a motion model improves the accuracy strongly. An extension to 3D mapping is introduced. The presented algorithm is tested with simulated and real world data. The optimized SLAM solution maps a whole floor of an office building very accurately and achieves embedded real-time capability. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Gyroscopy and Navigation Springer Journals

Indoor laser-based SLAM for micro aerial vehicles

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Publisher
Pleiades Publishing
Copyright
Copyright © 2017 by Pleiades Publishing, Ltd.
Subject
Engineering; Aerospace Technology and Astronautics; Geophysics/Geodesy
ISSN
2075-1087
eISSN
2075-1109
D.O.I.
10.1134/S2075108717030038
Publisher site
See Article on Publisher Site

Abstract

This article presents a laser-based 2D simultaneous localization and mapping (SLAM) algorithm for indoor environments. An adaption and optimization of a ground vehicle SLAM solution (TinySLAM) for the use with Micro Aerial Vehicles is proposed. Optimizations of the map update strategy and a motion model improves the accuracy strongly. An extension to 3D mapping is introduced. The presented algorithm is tested with simulated and real world data. The optimized SLAM solution maps a whole floor of an office building very accurately and achieves embedded real-time capability.

Journal

Gyroscopy and NavigationSpringer Journals

Published: Aug 23, 2017

References

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