An incremental slam algorithm for indoor autonomous navigation |
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| Mario Di Castro, Alessandro Masi, Giacomo Lunghi, Roberto Losito |
- Abstract:
- Robots indoor autonomous navigation is a crucial requirement for many challenging applications like the inspection of unstructured and harsh environments. Simultaneous Localization and Mapping (SLAM) is a key component to navigate autonomously. A novel embedded incremental algorithm that could be used on ground or aerial robots to localize and create 3D maps of an unknown GPS-denied environment, is presented. The algorithm is processing-wise light, is executed on board in real time and is suitable to be integrated in a full framework for autonomous navigation. It has been validated using a minimal set of sensors composed of a laser scanner and an inertial unit. Preliminary test results of the algorithm are presented using the CERN test facilities as case study.
- Keywords:
- Robotics, 3D Mapping, Autonomous navigation
- Download:
- IMEKO-TC4-2014-446.pdf
- DOI:
- -
- Event details
- IMEKO TC:
- TC4
- Event name:
- TC4 Symposium 2014
- Title:
20th IMEKO TC4 Symposium on Measurements of Electrical Quantities (together with 18th TC4 International Workshop on ADC and DCA Modeling and Testing, IWADC)
"Research on Electrical and Electronic Measurement for the Economic Upturn"- Place:
- Benevento, ITALY
- Time:
- 15 September 2014 - 17 September 2014