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An Incremental Slam Algorithm for Indoor Autonomous Navigation
| Content Provider | Semantic Scholar |
|---|---|
| Author | Castro, Mario Di Masi, Alfio Lunghi, Giacomo Losito, Roberto |
| Copyright Year | 2014 |
| 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. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.imeko.org/publications/tc4-2014/IMEKO-TC4-2014-446.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |