6DOF SLAM using 2D Laser Range Finders and IMU · References 19 Vosselman, G. (2014). Design of an...
Transcript of 6DOF SLAM using 2D Laser Range Finders and IMU · References 19 Vosselman, G. (2014). Design of an...
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6DOF SLAM using 2D Laser Range Finders and IMU
Samer KaramFaculty of Geoinformation Science and Earth Observation (ITC)
Promoter: Prof. Dr. Ir. George VosselmanSupervisors: Michael Peter & Siavash Hosseinyalamdary
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INDOOR MAPPING (IM)2
(terrestrial, airborne) laser scanning
(terrestrial, aerial) photogrammetry
GPS, …
Mapping, modelling, and navigation outdoors
WHAT ABOUT INDOORS?
Terrestrial laser scanning: Speed?
Number of points?
Price?
Mapping indoor environments
Indoor Mobile Mapping System
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INDOOR MOBILE MAPPING SYSTEM (IMMS)3
IMMS
Hardware
Moveable Platform
Synchronized
Calibrated
Acquired data
Navigation / Data-capturing Sensors
Images
Laser pointsAnd/OR
GPS does not work indoor! SLAM, IMU, ……
Camera-based system: Texture-less environment? Fast movement?
Laser-based system
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SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM) 4
Mapping
(Environment)
Localization
(System)
SLAM
2D SLAM (x, y, θ)
3D SLAM (x, y, z, , , )
3DOF
6DOF
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STRUCTURE OF THE PRESENTATION5
Related Works
ITC Backpack system
Best Configuration (evaluation)
Data (IMU)
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6Commercial Indoor Mobile Mapping Systems (IMMS)
Trimble IMMS
(www.applanix.com)
Viametris i-MMS
(www.viametris.com)
NavVis M3
(www.navvis.com) ZEB REVO(www.geoslam.com)
Trolley-based IMMS Hand-held IMMS
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7
Wearable IMMS (Other Researchers)
Four algorithms (scan-matching)VOSM and ICP-VO algorithms Adding three cameras
Liu et al. (2010)Naikal et al., (2009) Chen et al., (2010b)
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STRUCTURE OF THE PRESENTATION8
Related Works
ITC Backpack system
Best Configuration (evaluation)
Data (IMU)
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9
ITC Backpack system 2017 DATA
2D scanners
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10
Reconstructed Point Cloud
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STRUCTURE OF THE PRESENTATION11
Related Works
ITC Backpack system
Best Configuration (evaluation)
Data (IMU)
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12PROPOSED METHODOLOGY
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13Parallel Planes (walls)
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14Perpendicular Planes
2
1
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STRUCTURE OF THE PRESENTATION15
Related Works
ITC Backpack system
Best Configuration (evaluation)
Data (IMU)
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16IMU PERFORMANCE
CHANGE IN ORIENTATION
CHANGE IN POSITION
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17IMU_SLAM ORIENTATION
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18IMU_SLAM ORIENTATION
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19References
Vosselman, G. (2014). “Design of an indoor mapping system using three 2D laser scanners and 6 DOF SLAM.” ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2.3 (2014): 173.
Bailey, P., Beckler, M., Hoglund, R., & Saxton, J. (2008). “2D Simultaneous Localization And Mapping.”
Bailey, Tim, and H. D.-W. (2006). “Simultaneous Localization and Mapping (SLAM): Part II.” IEEE Robotics & Automation Magazine 13.3 : 108-117.
Bosse, M., Zlot, R., & Flick, P. (2012). “Zebedee: Design of a spring-mounted 3-D range sensor with application to mobile mapping.” IEEE Transactions on Robotics, 28(5), 1104–1119.
Naikal, N., Kua, J., Chen, G., & Zakhor, A. (2009). “Image Augmented Laser Scan Matching for Indoor Dead Reckoning.” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference On. IEEE, 2009., 4134–4141.
Liu, Timothy, et al. (2010). “Indoor localization and visualization using a human-operated backpack system.” In Indoor Positioning and Indoor Navigation (IPIN), 2010 International Conference on. IEEE, 2010. (pp. 1–10). IEEE.
Chen, G., Kua, J., Shum, S., & Naikal, N. (2010b). “Indoor localization algorithms for a human-operated backpack system.” 3D Data Processing, Visualization, and Transmission. 2010., (September), 15–17.