Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
4973013 | ISPRS Journal of Photogrammetry and Remote Sensing | 2016 | 12 Pages |
Abstract
We extend the concept of intrinsic localization from a theoretical one-dimensional (1D) solution onto a 2D manifold that is embedded in a 3D space, and then recover the full six degrees of freedom for a mobile laser scanner with a simultaneous localization and mapping algorithm (SLAM). By intrinsic localization, we mean that no reference coordinate system, such as global navigation satellite system (GNSS), nor inertial measurement unit (IMU) are used. Experiments are conducted with a 2D laser scanner mounted on a rolling prototype platform, VILMA. The concept offers potential in being extendable to other wheeled platforms.
Related Topics
Physical Sciences and Engineering
Computer Science
Information Systems
Authors
Ville V. Lehtola, Juho-Pekka Virtanen, Matti T. Vaaja, Hannu Hyyppä, Andreas Nüchter,