An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping
Joint Authors
Niu, Xiaoji
Yu, Tong
Tang, Jian
Chang, Le
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-07-03
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Telecommunications Engineering
Abstract EN
Multisensors (LiDAR/IMU/CAMERA) integrated Simultaneous Location and Mapping (SLAM) technology for navigation and mobile mapping in a GNSS-denied environment, such as indoor areas, dense forests, or urban canyons, becomes a promising solution.
An online (real-time) version of such system can extremely extend its applications, especially for indoor mobile mapping.
However, the real-time response issue of multisensors is a big challenge for an online SLAM system, due to the different sampling frequencies and processing time of different algorithms.
In this paper, an online Extended Kalman Filter (EKF) integrated algorithm of LiDAR scan matching and IMU mechanization for Unmanned Ground Vehicle (UGV) indoor navigation system is introduced.
Since LiDAR scan matching is considerably more time consuming than the IMU mechanism, the real-time synchronous issue is solved via a one-step-error-state-transition method in EKF.
Stationary and dynamic field tests had been performed using a UGV platform along typical corridor of office building.
Compared to the traditional sequential postprocessed EKF algorithm, the proposed method can significantly mitigate the time delay of navigation outputs under the premise of guaranteeing the positioning accuracy, which can be used as an online navigation solution for indoor mobile mapping.
American Psychological Association (APA)
Niu, Xiaoji& Yu, Tong& Tang, Jian& Chang, Le. 2017. An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping. Mobile Information Systems،Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1189084
Modern Language Association (MLA)
Niu, Xiaoji…[et al.]. An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping. Mobile Information Systems No. 2017 (2017), pp.1-11.
https://search.emarefa.net/detail/BIM-1189084
American Medical Association (AMA)
Niu, Xiaoji& Yu, Tong& Tang, Jian& Chang, Le. An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping. Mobile Information Systems. 2017. Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1189084
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1189084