2019/10/29 by Jiun Fatt Chow, Chow, Jiun Fatt, Başaran Bahadır Koçer +11
Earth and Planetary Sciences · Engineering · #3D Surveying and Cultural Heritage #FOS: Computer and information sciences #FOS: Electrical engineering #Indoor and Outdoor Localization Technologies #Robotics (cs.RO) #Robotics and Sensor-Based Localization #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1910.13085
openalex publication_date 2019/10/29 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Localization can be achieved by different sensors and techniques such as a\nglobal positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this\npaper, we focus on the laser-based localization method for unmanned aerial\nvehicle (UAV) applications in a GPS denied environment such as a deep tunnel\nsystem. Other than a low-cost 2D LiDAR for the planar axes, a single axis Lidar\nfor the vertical axis as well as an inertial measurement unit (IMU) device is\nused to increase the reliability and accuracy of the localization performance.\nWe present a comparative analysis of the three selected laser-based\nsimultaneous localization and mapping(SLAM) approaches:(i) Hector SLAM; (ii)\nGmapping; and(iii) Cartographer. These algorithms have been implemented and\ntested through real-world experiments. The results are compared with the ground\ntruth data and the experiments are available at https://youtu.be/kQc3mJjwmw.\n