Research Article
Evaluation of an Inertial and Optical Sensors Based Mapping and Localization System
@INPROCEEDINGS{10.1007/978-3-031-15101-9_1, author={Stefan Hensel and Marin B. Marinov and Max Schmitt}, title={Evaluation of an Inertial and Optical Sensors Based Mapping and Localization System}, proceedings={Future Access Enablers for Ubiquitous and Intelligent Infrastructures. 6th EAI International Conference, FABULOUS 2022, Virtual Event, May 4, 2022, Proceedings}, proceedings_a={FABULOUS}, year={2022}, month={9}, keywords={maplab Robot Operating System (ROS) Simultaneous Localization and Mapping (SLAM)}, doi={10.1007/978-3-031-15101-9_1} }- Stefan Hensel
Marin B. Marinov
Max Schmitt
Year: 2022
Evaluation of an Inertial and Optical Sensors Based Mapping and Localization System
FABULOUS
Springer
DOI: 10.1007/978-3-031-15101-9_1
Abstract
, The visual-inertial mapping and localization systemmaplabis analyzed by its implementation and subsequent evaluation. The mapping or localization is based on environmental feature detection. In addition to creating maps, there is also the option of fusion of several maps and thus mapping extensive areas and using them for further analysis of data. In this way, various software tools can be used to optimize the existing data sets.
Two sensor components are needed: an inertial measuring unit (IMU) and a monochrome camera, which are combined by a hardware rig and put into operation for the analysis of the visual-inertial system. System calibration is crucial for precision and system functioning and is based on nonlinear dynamic state estimation. This ensures the best possible estimate of the position of the environmental feature and the map.Maplabis particularly suitable for mapping rooms or small building complexes as the implementation and evaluation of the results in different application scenarios show. Special emphasis is laid on the evaluation of larger scenarios, in which is shown, that the system is struggling to keep up geometric consistencies and thus provide an accurate map.
