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Attitude Correction Using Corner Landmarks in 3-D SLAM | IEEE Journals & Magazine | IEEE Xplore

Attitude Correction Using Corner Landmarks in 3-D SLAM


Abstract:

This paper discusses the use of three-dimensional (3-D) corner features extracted from a 2-D laser scanner as landmarks in a simultaneous localization and mapping solutio...Show More

Abstract:

This paper discusses the use of three-dimensional (3-D) corner features extracted from a 2-D laser scanner as landmarks in a simultaneous localization and mapping solution. The corner landmarks can be identified and tracked using their angles, and the observations of the corners are directly used to correct attitude errors. The proposed method can be used to navigate a small unmanned aerial vehicle in urban and indoor environments.
Published in: IEEE Transactions on Aerospace and Electronic Systems ( Volume: 54, Issue: 2, April 2018)
Page(s): 923 - 931
Date of Publication: 01 November 2017

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