Flying with Cartographer: Adapting the Cartographer 3D Graph SLAM Stack for UAV Navigation (CROSBI ID 709650)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Orsulic, Juraj ; Milijas, Robert ; Batinovic, Ana ; Markovic, Lovro ; Ivanovic, Antun ; Bogdan, Stjepan
engleski
Flying with Cartographer: Adapting the Cartographer 3D Graph SLAM Stack for UAV Navigation
This paper describes an application of the Cartographer graph SLAM stack as a pose sensor in a UAV feedback control loop, with certain application-specific changes in the SLAM stack such as smoothing of the optimized pose. Pose estimation is performed by fusing 3D LiDAR/IMU-based proprioception with GPS position measurements by means of pose graph optimisation. Moreover, partial environment maps built from the LiDAR data (submaps) within the Cartographer SLAM stack are marshalled into OctoMap, an Octree-based voxel map implementation. The OctoMap is further used for navigation tasks such as path planning and obstacle avoidance.
drone ; SLAM ; Cartographer ; Octree ; navigation
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Podaci o prilogu
1-7.
2021.
objavljeno
10.1109/airpharo52252.2021.9571065
Podaci o matičnoj publikaciji
2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)
Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)
predavanje
04.10.2021-05.10.2021
Biograd na Moru, Hrvatska