Peer-reviewed articles 17,970 +


Title: DEVELOPMENT OF A MOBILE MAPPING SYSTEM FOR SIMULTANEOUS LOCALIZATION AND MAPPING
DEVELOPMENT OF A MOBILE MAPPING SYSTEM FOR SIMULTANEOUS LOCALIZATION AND MAPPING

PlumX Article Metrics by Elsevier
Alojz Kopacik; Pavol Kajanek; Jan Brindza; Jan Erdelyi; Peter Kyrinovic
10.5593/sgem2022/2.1/s09.24
10.5593/sgem2022/2.1
1314-2704
978-619-7603-40-8
English
22
2.1
•    Prof. DSc. Oleksandr Trofymchuk, UKRAINE 
•    Prof. Dr. hab. oec. Baiba Rivza, LATVIA
Geodesy and Mine Surveying
The article deals with the developing and applying of the mobile mapping system developed at the Department of Surveying of the Slovak University of Technology in Bratislava. The article presents a low-cost mobile mapping system for simultaneous localization and mapping of the indoor environment. Existing systems are costly and have robust construction and high-power requirements, making them unavailable for some applications. The proposed measuring system consists of three orthogonally placed 2D lidars, a robotic platform with two rotary encoders, and an inertial measuring unit. The lidars scan the environment in three mutually perpendicular directions during the measurement. Based on the transformation between a pair of consecutive scans, the position of the system is updated. Then the model of the environment is updated using a new lidar scan. The estimated transformation parameters are translations expressing the change in position of the system and rotation, which represents the change in orientation of the measuring system. The errors in determining the transformation parameters represent the positioning errors, which are transmitted to the calculated model. For this reason, additional sensors are used (inertial measuring unit, speed sensors), based on which the error in position and orientation is corrected.
[1] CHEN, S. et al.: A LiDAR/Visual SLAM Backend with Loop Closure Detection and Graph Optimization. Remote Sensing. 2021, vol. 13, is. 14, p. 2720.
[2] CUMMINS, M. - NEWMAN, P.: Probabilistic appearance based navigation and loop closing. Proceedings 2007 IEEE International Conference on Robotics and Automation. 2007, pp. 2042-2048. ISSN 1050-4729.
[3] BISTROM, B.: Comparative analysis of properties of LiDAR-based point clouds versus camera-based point clouds for 3D reconstruction using SLAM algorithms. 2019.
[4] GUTMANN, J.S. - KONOLIGE, K.: Incremental mapping of large cyclic environments. In: Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. IEEE 1999, pp.318-325. ISBN 0-7803-5806-6
[5] VALENCIA, R. - ANDRADE-CETTO, J.: Mapping, planning and exploration with Pose SLAM. Berlin, Springer 2018, ISBN 978-3-319-60602-6.
[6] THRUN, S. et al.: A system for volumetric robotic mapping of abandoned mines. In: 2003 IEEE International Conference on Robotics and Automation. IEEE 2003, pp. 4270-4275. ISBN 0-7803-7736-2.
[7] KUDRIASHOV, A. et al.: SLAM Techniques Application for Mobile Robot in Rough Terrain. Springer International Publishing 2020, ISBN 978-3-030-48980-9.
[8] GRISETTI, G. et al.: A tutorial on graph-based SLAM. IEEE Intelligent Transportation Systems Magazine. 2010, vol. 2, is. 4, pp. 31-43. ISSN 1939-1390.
[9] LU, F. - MILIOS, E.: Globally consistent range scan alignment for environment mapping. Autonomous robots. 1997, vol. 4, is. 4, pp. 333-349.
[10] PROKHOROV, D. et al.: Measuring robustness of Visual SLAM. In: 2019 16th International Conference on Machine Vision Applications (MVA). IEEE 2019, pp. 1-6. ISBN 978-1-7281-0925-1.
[11] KUMMERLE, R. et al.: On measuring the accuracy of SLAM algorithms. Autonomous Robots. 2009, vol. 27, is. 4, s. 387-407.
This work was supported by the Slovak Research and Development Agency under Contract no. APVV-18-0247
conference
https://doi.org/10.5593/sgem2022/2.1/s09.24
Download PDF
Proceedings of 22nd International Multidisciplinary Scientific GeoConference SGEM 2022
22nd International Multidisciplinary Scientific GeoConference SGEM 2022, 04 - 10 July, 2022
Proceedings Paper
STEF92 Technology
International Multidisciplinary Scientific GeoConference SGEM
SWS Scholarly Society; Acad Sci Czech Republ; Latvian Acad Sci; Polish Acad Sci; Serbian Acad Sci and Arts; Natl Acad Sci Ukraine; Natl Acad Sci Armenia; Sci Council Japan; European Acad Sci, Arts and Letters; Acad Fine Arts Zagreb Croatia; Croatian Acad Sci and Arts; Acad Sci Moldova; Montenegrin Acad Sci and Arts; Georgian Acad Sci; Acad Fine Arts and Design Bratislava; Turkish Acad Sci.
195-202
04 - 10 July, 2022
website
8491
simultaneous localization and mapping, scan matching, lidar, loop closure, sensor fusion

24th SGEM International Conference on Earth & Planetary Sciences


International GeoConference SGEM2024
28 June - 8 July, 2024 / Albena, Bulgaria

Read More		   

SGEM Vienna GREEN "Green Science for Green Life"


Extended Scientific Sessions SGEM Vienna GREEN
25 - 29 November, 2024 / Vienna, Austria

Read More
   

A scientific platform for Art-Inspired Scientists!


The Magical World Where Science meets Art
Vienna, Austria

Read More