An incremental slam algorithm for indoor autonomous navigation

Mario Di Castro, Alessandro Masi, Giacomo Lunghi, Roberto Losito

Abstract

Robots indoor autonomous navigation is a crucial requirement for many challenging applications like the inspection of unstructured and harsh environments. Simultaneous Localization and Mapping (SLAM) is a key component to navigate autonomously. A novel embedded incremental algorithm that could be used on ground or aerial robots to localize and create 3D maps of an unknown GPS-denied environment, is presented. The algorithm is processing-wise light, is executed on board in real time and is suitable to be integrated in a full framework for autonomous navigation. It has been validated using a minimal set of sensors composed of a laser scanner and an inertial unit. Preliminary test results of the algorithm are presented using the CERN test facilities as case study.

Keywords

Robotics, 3D Mapping, Autonomous navigation

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IMEKO-TC4-2014-446.pdf

DOI

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IMEKO TC

TC4 - Measurement of Electrical Quantities

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