simultaneous localization and mapping XII - georeferenced laser map concatenation

This video shows geolocalization without the use of any gps receiver. The system uses only laser scanners. The steps are the following:
1) we create an unlimited set of small maps of a 5cm/pixel resolution using laser only SLAM and keep them on disk. 2) we georeference each laser map by comparing those with georeferenced satellite images from Google Earth. 3) using lasers only, we relocalize in the maps and this gives us in a very precise way our geoposition in latitude and longitude at a refresh rate equal to the laser frequency. 4) each time we get to the limits of one of the laser maps we determine in what map we are entering and load it from disk into memory. 5) the geoposition is seemlessly calculated during the map transitions ensuring a smooth and continuous tracking of our movement at all times.

Category:

Science & Technology

Tags:

• slam
• relocalization
• georeferencing
• robot
• outdoor
• geolocalization
• simultaneous
• localization
• mapping
• google
• earth
• gps
• exploration
• laser
• scanner
• lidar
• ibeo
• hokuyo
• autonomous
• navigation
• vehicles
• mobile
• robotics
• SRI
• karto
• SDK