Pregled bibliografske jedinice broj: 1154624
Flying with Cartographer: Adapting the Cartographer 3D Graph SLAM Stack for UAV Navigation
Flying with Cartographer: Adapting the Cartographer 3D Graph SLAM Stack for UAV Navigation // 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)
Biograd na Moru, Hrvatska: Institute of Electrical and Electronics Engineers (IEEE), 2021. str. 1-7 doi:10.1109/airpharo52252.2021.9571065 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 1154624 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Flying with Cartographer: Adapting the Cartographer 3D Graph SLAM Stack for UAV Navigation
Autori
Orsulic, Juraj ; Milijas, Robert ; Batinovic, Ana ; Markovic, Lovro ; Ivanovic, Antun ; Bogdan, Stjepan
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)
/ - : Institute of Electrical and Electronics Engineers (IEEE), 2021, 1-7
Skup
Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)
Mjesto i datum
Biograd na Moru, Hrvatska, 04.10.2021. - 05.10.2021
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
drone ; SLAM ; Cartographer ; Octree ; navigation
Sažetak
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.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti
POVEZANOST RADA
Projekti:
EK-H2020-810321 - Twinning koordinacijska akcija za širenje izvrsnosti i sudjelovanja u zračnoj robotici – AeRoTwin (AeRoTwin) (Bogdan, Stjepan, EK ) ( CroRIS)
EK-H2020-820434 - BIM platforma u oblaku za energetski učinkovito i cjenovno efikasno renoviranje zgrada (ENCORE) (Bogdan, Stjepan, EK ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
Profili:
Ana Milas
(autor)
Robert Milijaš
(autor)
Lovro Marković
(autor)
Juraj Oršulić
(autor)
Stjepan Bogdan
(autor)
Antun Ivanović
(autor)