publication . Conference object . 2012

Application of Visual-Inertial SLAM for 3D Mapping of Underground Environments

Ferreira, António Bernardo; Almeida, José Miguel; Silva, Eduardo;
Open Access English
  • Published: 01 Jan 2012
  • Country: Portugal
Abstract
The underground scenarios are one of the most challenging environments for accurate and precise 3d mapping where hostile conditions like absence of Global Positioning Systems, extreme lighting variations and geometrically smooth surfaces may be expected. So far, the state-of-the-art methods in underground modelling remain restricted to environments in which pronounced geometric features are abundant. This limitation is a consequence of the scan matching algorithms used to solve the localization and registration problems. This paper contributes to the expansion of the modelling capabilities to structures characterized by uniform geometry and smooth surfaces, as i...
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