Real-Time Implementation of a Laser-Based Graphical OrthoSLAM Method Coupled with a Dual IMU System

C. Ascher, C. Kessler, P. Crocoll, G.F. Trommer

Abstract:	In this paper, a real-time implementation for laser-ranger based indoor Simultaneous Localization and Mapping (SLAM) with a Dual IMU concept is presented. On an Intel Atom platform mapping and positioning results are calculated online and displayed on the platform. An innovative representation of the laser scans makes it possible to exploit geometrical constraints of the indoor environment and create maps fast and efficiently, even when low-cost lasers with short scanning ranges are used. The used GraphicalOrthoSLAM approach enables high-level strategies for maintaining map consistency, so that even large buildings can be explored and mapped successfully.
Published in:	Proceedings of the 2011 International Technical Meeting of The Institute of Navigation January 24 - 26, 2011 Catamaran Resort Hotel San Diego, CA
Pages:	170 - 177
Cite this article:	Ascher, C., Kessler, C., Crocoll, P., Trommer, G.F., "Real-Time Implementation of a Laser-Based Graphical OrthoSLAM Method Coupled with a Dual IMU System," Proceedings of the 2011 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2011, pp. 170-177.
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