Pub Date : 2021-06-04DOI: 10.1109/AIRPHARO52252.2021.9571065
Juraj Orsuli'c, Robert Milijas, Ana Batinovic, Lovro Markovic, Antun Ivanovic, S. Bogdan
This paper describes an application of the Cartographer graph SLAM stack as a pose sensor in a UAV feedback control loop, with certain application-specific changes in the SLAM stack such as smoothing of the optimized pose. Pose estimation is performed by fusing 3D LiDAR/IMU-based proprioception with GPS position measurements by means of pose graph optimisation. Moreover, partial environment maps built from the LiDAR data (submaps) within the Cartographer SLAM stack are marshalled into OctoMap, an Octree-based voxel map implementation. The OctoMap is further used for navigation tasks such as path planning and obstacle avoidance.
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Provides an abstract for each of the two tutorial presentations and may include a brief professional biography of each presenter. The complete presentations were not made available for publication as part of the conference proceedings.
{"title":"Tutorials [2 abstracts]","authors":"A. Singh, K. Chakrabarty","doi":"10.1109/ATS.2013.6","DOIUrl":"https://doi.org/10.1109/ATS.2013.6","url":null,"abstract":"Provides an abstract for each of the two tutorial presentations and may include a brief professional biography of each presenter. The complete presentations were not made available for publication as part of the conference proceedings.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126620891","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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