Human navigation and mapping with a 6DOF IMU and a laser scanner

被引：30

作者：

Baglietto, Marco ^{[1
]}

Sgorbissa, Antonio ^{[1
]}

Verda, Damiano ^{[1
]}

Zaccaria, Renato ^{[1
]}

机构：

[1] DIST Univ Genova, I-16145 Genoa, Italy

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2011年 / 59卷 / 12期

关键词：

Human navigation and mapping; IMU-based dead reckoning; Laser-based SLAM;

D O I：

10.1016/j.robot.2011.08.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article focuses on human navigation, by proposing a system for mapping and self-localization based on wearable sensors, i.e., a laser scanner and a 6 Degree-of-Freedom Inertial Measurement Unit (6DOF IMU) fixed on a helmet worn by the user. The sensor data are fed to a Simultaneous Localization And Mapping (SLAM) algorithm based on particle filtering, an approach commonly used for mapping and self-localization in mobile robotics. Given the specific scenario considered, some operational hypotheses are introduced in order to reduce the effect of a well-known problem in IMU-based localization, i.e., position drift. Experimental results show that the proposed solution leads to improvements in the quality of the generated map with respect to existing approaches. (C) 2011 Elsevier B.V. All rights reserved.

引用

页码：1060 / 1069

页数：10