Solutions for the localization of mobile mapping systems in structured environments

Abstract : Automated localization is an important functionality for Mobile Mapping Systems (MMS). This thesis presents complimentary solutions to the current localization methods used in a terrestrial MMS, using GPS receivers and Inertial Measurement Units (IMU). A smoothing-based post-mission processing improves the 3D maps generated by MMS. However, this approach is still insufficient, when exposed to slowly varying input sensor errors. The thesis proposes an alternative localization method using 2D laser scanners. The proposed laser odometry approach uses planar landmarks in manmade environments, to detect and compute the transformation of the mobile platform. Unlike Simultaneous Localization and Mapping (SLAM) technique, used in indoor robotic navigation, the relative 3D transformation is computed without using a map, but by exploiting the time invariant properties of the extracted features. A new Divide & Conquer (D&C) approach is proposed to simplify the computation, involving both transformation and Data Association.
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Submitted on : Wednesday, August 31, 2011 - 11:26:13 AM
Last modification on : Monday, November 12, 2018 - 11:01:08 AM
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  • HAL Id : pastel-00617985, version 1

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Keerthi Narayana. Solutions for the localization of mobile mapping systems in structured environments. Automatic Control Engineering. École Nationale Supérieure des Mines de Paris, 2011. English. ⟨NNT : 2011ENMP0020⟩. ⟨pastel-00617985⟩

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