Sensor fusion for flexible human-portable building-scale mapping
Name
Leonard_Sensor fusion.pdf
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772.34 KB
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Checksum (MD5)
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Author(s)
Fallon, Maurice Francis
Johannsson, Hordur
Brookshire, Jonathan David
Teller, Seth
Leonard, John Joseph
Date Issued
May 16, 2013
Journal
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Fallon, Maurice F. et al. “Sensor fusion for flexible human-portable building-scale mapping.” Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (2012): 4405–4412.
Version
Author's final manuscript
Abstract
This paper describes a system enabling rapid multi-floor indoor map building using a body-worn sensor system fusing information from RGB-D cameras, LIDAR, inertial, and barometric sensors. Our work is motivated by rapid response missions by emergency personnel, in which the capability for one or more people to rapidly map a complex indoor environment is essential for public safety. Human-portable mapping raises a number of challenges not encountered in typical robotic mapping applications including complex 6-DOF motion and the traversal of challenging trajectories including stairs or elevators. Our system achieves robust performance in these situations by exploiting state-of-the-art techniques for robust pose graph optimization and loop closure detection. It achieves real-time performance in indoor environments of moderate scale. Experimental results are demonstrated for human-portable mapping of several floors of a university building, demonstrating the system's ability to handle motion up and down stairs and to organize initially disconnected sets of submaps in a complex environment.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2012.6385882
