Indoor Laser-Based SLAM for Micro Aerial Vehicles
https://doi.org/10.17285/0869-7035.2017.25.1.018-032
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.
About the Authors
C. Doer
Institute of Systems Optimization (ITE), Karlsruhe Institute of Technology (KIT), Karlsruhe
Germany
Germany
G. Scholz
Institute of Systems Optimization (ITE), Karlsruhe Institute of Technology (KIT), Karlsruhe
Germany
Germany
G.F. Trommer
Institute of Systems Optimization, Karlsruhe Institute of Technology; National Research University of Information Technologies, Mechanics and Optics (ITMO), Saint Petersburg, Russia
Germany
Germany
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Review
For citations:
Doer C., Scholz G., Trommer G. Indoor Laser-Based SLAM for Micro Aerial Vehicles. Giroskopiya i Navigatsiya. 2017;25(1):18-32. (In Russ.) https://doi.org/10.17285/0869-7035.2017.25.1.018-032
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