DEVELOPMENT OF A MOBILE MAPPING SYSTEM FOR SIMULTANEOUS LOCALIZATION AND MAPPING

Abstract

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.