Evaluation of an Inertial and Optical Sensors Based Mapping and Localization System
- The visual-inertial mapping and localization system maplab is 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 usedThe visual-inertial mapping and localization system maplab is 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. Maplab is 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.…
Document Type: | Conference Proceeding |
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Conference Type: | Konferenzartikel |
Zitierlink: | https://opus.hs-offenburg.de/6594 | Bibliografische Angaben |
Title (German): | Evaluation of an Inertial and Optical Sensors Based Mapping and Localization System |
Conference: | FABULOUS 2022: EAI International Conference (6. : May 4, 2022 : Virtual Event) |
Author: | Stefan HenselStaff MemberORCiDGND, Marin B. Marinov, Max Schmitt |
Edition: | 1. |
Year of Publication: | 2022 |
Place of publication: | Cham |
Publisher: | Springer |
First Page: | 3 |
Last Page: | 15 |
Parent Title (German): | Future Access Enablers for Ubiquitous and Intelligent Infrastructures |
Editor: | Dragan Perakovic, Lucia Knapcikova |
Volume: | LNICST 445 |
ISBN: | 978-3-031-15100-2 (Softcover) |
ISBN: | 978-3-031-15101-9 (eBook) |
DOI: | https://doi.org/10.1007/978-3-031-15101-9_1 |
URL: | https://link.springer.com/chapter/10.1007/978-3-031-15101-9_1 |
Language: | German | Inhaltliche Informationen |
Institutes: | Fakultät Elektrotechnik, Medizintechnik und Informatik (EMI) (ab 04/2019) |
Institutes: | Bibliografie |
DDC classes: | 000 Allgemeines, Informatik, Informationswissenschaft |
Tag: | Inertial | Formale Angaben |
Relevance: | Konferenzbeitrag: h5-Index < 30 |
Open Access: | Closed |
Licence (German): | Urheberrechtlich geschützt |