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Integration of IMU and Velodyne LiDAR sensor in an ICP-SLAM framework
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Integrering av IMU och Velodyne LiDAR i en ICP-SLAM struktur (Swedish)
Abstract [en]

Simultaneous localization and mapping (SLAM) of an unknown environment is a critical step for many autonomous processes. For this work, we propose a solution which does not rely on storing descriptors of the environment and performing descriptors filtering. Compared to most SLAM based methods this work with general sparse point clouds with the underlying generalized ICP (GICP) algorithm for point cloud registration. This thesis presents a modified GICP method and an investigation of how and if an IMU can assist the SLAM process by different methods of integrating the IMU measurements. All the data in this thesis have been sampled from a LiDAR scanner mounted on top of an UAV, a car or on a backpack. Suggested modification on GICP have shown to improve robustness in a forest environment. From urban measurements the result indicates that IMU contributes by reducing the overall angular drift, which in a long run is contributing most to the loop closure error.

Abstract [sv]

Lokalisering och kartläggning (SLAM) i en okänd miljö är ett viktigt steg för många autonoma system. Den föreslagna lösningen är inte beroende på att hitta nyckelpunkter eller nyckelobjekt. Till skillnad från många andra SLAM baserade metoder så arbetar denna metod med glesa punktmoln där 'generalized ICP' (GICP)algoritmen används för punktmolns registrering. I denna uppsats så föreslås en variant av GICP och undersöker, ifall en tröghetssensor (IMU) kan hjälpa till med SLAM-processen. LiDAR-data som har använts i denna uppsats har varit uppmätta från en Velodyne LiDAR monterat på en ryggsäck, en bil och på en UAV. Resultatet tyder på att IMU-data kan göra algoritmen robustare och från mätningar i stadsmiljö så visar det sig att IMU kan hjälpa till att minska vinkeldrift, vilket är det största felkällan för noggrannhet i det globala koordinat systemet.

Place, publisher, year, edition, pages
2016.
Series
TRITA-MAT-E, 2016:66
National Category
Mathematics
Identifiers
URN: urn:nbn:se:kth:diva-193653OAI: oai:DiVA.org:kth-193653DiVA: diva2:1033497
External cooperation
FOI, Swedish Defence Research Agency
Subject / course
Optimization and Systems Theory
Educational program
Master of Science - Applied and Computational Mathematics
Supervisors
Examiners
Available from: 2016-10-07 Created: 2016-10-07 Last updated: 2016-10-07Bibliographically approved

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