Cooperative navigation in transitional environments

Abstract

This paper describes initial research effort aimed at enabling multi-sensory, robust cooperative navigation solution, including seamless transition capabilities between different types of navigation platforms that navigate together, with the focus on transitional environments. The emphasis of the navigation performance assessment is on the 3D imagery, furnished by a flash LiDAR sensor, Kinect, in the indoor environment, and the transition from/to outdoor environment. The sensor and systems used in this demonstration are (1) multi-sensor assembly placed in a land-based platform, and (2) personal navigator, transitioning from the land-based platform (deployment vehicle) to the indoor environment. The algorithmic approach as well as the navigation results will be discussed.