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Pregled bibliografske jedinice broj: 1143088

A Comparison of LiDAR-based SLAM Systems for Control of Unmanned Aerial Vehicles


Milijas, Robert; Markovic, Lovro; Ivanovic, Antun; Petric, Frano; Bogdan, Stjepan
A Comparison of LiDAR-based SLAM Systems for Control of Unmanned Aerial Vehicles // 2021 International Conference on Unmanned Aircraft Systems (ICUAS)
Atena, Grčka: Institute of Electrical and Electronics Engineers (IEEE), 2021. str. 1148-1154 doi:10.1109/icuas51884.2021.9476802 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


CROSBI ID: 1143088 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
A Comparison of LiDAR-based SLAM Systems for Control of Unmanned Aerial Vehicles

Autori
Milijas, Robert ; Markovic, Lovro ; Ivanovic, Antun ; Petric, Frano ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
2021 International Conference on Unmanned Aircraft Systems (ICUAS) / - : Institute of Electrical and Electronics Engineers (IEEE), 2021, 1148-1154

ISBN
978-1-6654-1535-4

Skup
2021 International Conference on Unmanned Aircraft Systems (ICUAS 2021)

Mjesto i datum
Atena, Grčka, 15.06.2021. - 18.06.2021

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Simultaneous localization and mapping ; Laser radar ; Pose estimation ; Sensor fusion ; Control systems ; Unmanned aerial vehicles

Sažetak
This paper investigates the use of LiDAR SLAM as a pose feedback for autonomous flight. Cartographer, LOAM and HDL graph SLAM are first introduced on a conceptual level and later tested for this role. They are first compared offline on a series of datasets to see if they are capable of producing high-quality pose estimates in agile and long-range flight scenarios. The second stage of testing consists of integrating the SLAM algorithms into a cascade PID UAV control system and comparing the control system performance on step excitation signals and helical trajectories. The comparison is based on step response characteristics and several time integral performance criteria as well as the RMS error between planned and executed trajectory.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti



POVEZANOST RADA


Projekti:
EK-H2020-820434 - BIM platforma u oblaku za energetski učinkovito i cjenovno efikasno renoviranje zgrada (ENCORE) (Bogdan, Stjepan, EK ) ( CroRIS)
EK-H2020-810321 - Twinning koordinacijska akcija za širenje izvrsnosti i sudjelovanja u zračnoj robotici – AeRoTwin (AeRoTwin) (Bogdan, Stjepan, EK ) ( CroRIS)

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Poveznice na cjeloviti tekst rada:

doi ieeexplore.ieee.org

Citiraj ovu publikaciju:

Milijas, Robert; Markovic, Lovro; Ivanovic, Antun; Petric, Frano; Bogdan, Stjepan
A Comparison of LiDAR-based SLAM Systems for Control of Unmanned Aerial Vehicles // 2021 International Conference on Unmanned Aircraft Systems (ICUAS)
Atena, Grčka: Institute of Electrical and Electronics Engineers (IEEE), 2021. str. 1148-1154 doi:10.1109/icuas51884.2021.9476802 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Milijas, R., Markovic, L., Ivanovic, A., Petric, F. & Bogdan, S. (2021) A Comparison of LiDAR-based SLAM Systems for Control of Unmanned Aerial Vehicles. U: 2021 International Conference on Unmanned Aircraft Systems (ICUAS) doi:10.1109/icuas51884.2021.9476802.
@article{article, author = {Milijas, Robert and Markovic, Lovro and Ivanovic, Antun and Petric, Frano and Bogdan, Stjepan}, year = {2021}, pages = {1148-1154}, DOI = {10.1109/icuas51884.2021.9476802}, keywords = {Simultaneous localization and mapping, Laser radar, Pose estimation, Sensor fusion, Control systems, Unmanned aerial vehicles}, doi = {10.1109/icuas51884.2021.9476802}, isbn = {978-1-6654-1535-4}, title = {A Comparison of LiDAR-based SLAM Systems for Control of Unmanned Aerial Vehicles}, keyword = {Simultaneous localization and mapping, Laser radar, Pose estimation, Sensor fusion, Control systems, Unmanned aerial vehicles}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Atena, Gr\v{c}ka} }
@article{article, author = {Milijas, Robert and Markovic, Lovro and Ivanovic, Antun and Petric, Frano and Bogdan, Stjepan}, year = {2021}, pages = {1148-1154}, DOI = {10.1109/icuas51884.2021.9476802}, keywords = {Simultaneous localization and mapping, Laser radar, Pose estimation, Sensor fusion, Control systems, Unmanned aerial vehicles}, doi = {10.1109/icuas51884.2021.9476802}, isbn = {978-1-6654-1535-4}, title = {A Comparison of LiDAR-based SLAM Systems for Control of Unmanned Aerial Vehicles}, keyword = {Simultaneous localization and mapping, Laser radar, Pose estimation, Sensor fusion, Control systems, Unmanned aerial vehicles}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Atena, Gr\v{c}ka} }

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