Human navigation and mapping with a 6DOF IMU and a laser scanner |
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Authors: | Marco Baglietto Antonio Sgorbissa Damiano Verda Renato Zaccaria[Author vitae] |
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Affiliation: | aDIST - University of Genova, Via Opera Pia 13, 16145 Genova, Italy |
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Abstract: | This article focuses on human navigation, by proposing a system for mapping and self-localization based on wearable sensors, i.e., a laser scanner and a 6 Degree-of-Freedom Inertial Measurement Unit (6DOF IMU) fixed on a helmet worn by the user. The sensor data are fed to a Simultaneous Localization And Mapping (SLAM) algorithm based on particle filtering, an approach commonly used for mapping and self-localization in mobile robotics. Given the specific scenario considered, some operational hypotheses are introduced in order to reduce the effect of a well-known problem in IMU-based localization, i.e., position drift. Experimental results show that the proposed solution leads to improvements in the quality of the generated map with respect to existing approaches. |
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Keywords: | Human navigation and mapping IMU-based dead reckoning Laser-based SLAM |
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