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A Robust and Efficient 3D LADAR Odometer with Outlier Detection

Published online by Cambridge University Press:  28 September 2017

Zhen Zhu  and
Maarten Uijt de Haag
Zhen Zhu*
Affiliation:
(East Carolina University)
Maarten Uijt de Haag
Affiliation:
(Ohio University)
*
(E-mail: zhuz@ecu.edu)
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Abstract

This paper discusses the estimation algorithms for Three-Dimensional (3D) displacement and 3D rotation using Two-Dimensional (2D) laser scanners. An efficient outlier detection method is proposed for both algorithms to help protect the integrity of navigation. The algorithms have been evaluated using both simulation and field test results. They are able to produce a robust odometry solution for an autonomous aircraft in an indoor environment.

Keywords

LaserNavigationRobust estimation
Type
Research Article
Information
The Journal of Navigation , Volume 71 , Issue 2 , March 2018 , pp. 317 - 338
Copyright
Copyright © The Royal Institute of Navigation 2017 

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References

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