Indoor laser-based SLAM for micro aerial vehicles
- Авторы: Doer C.1, Scholz G.1, Trommer G.F.1,2
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Учреждения:
- Institute of Systems Optimization (ITE)
- ITMO University
- Выпуск: Том 8, № 3 (2017)
- Страницы: 181-189
- Раздел: Article
- URL: https://bakhtiniada.ru/2075-1087/article/view/204125
- DOI: https://doi.org/10.1134/S2075108717030038
- ID: 204125
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Аннотация
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.
Об авторах
C. Doer
Institute of Systems Optimization (ITE)
Email: georg.scholz@kit.edu
Германия, Karlsruhe
G. Scholz
Institute of Systems Optimization (ITE)
Автор, ответственный за переписку.
Email: georg.scholz@kit.edu
Германия, Karlsruhe
G. Trommer
Institute of Systems Optimization (ITE); ITMO University
Email: georg.scholz@kit.edu
Германия, Karlsruhe; St. Petersburg
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