Abstract:This chapter discusses key software components of autonomous mobile mapping robots equipped with an inertial measurement unit (IMU) and light detection and ranging (LiDAR). In recent years, new LiDARs with nonrepetitive scanning pattern have appeared in the market. They are also equipped with an IMU; thus, the front end of simultaneous localization and mapping (SLAM)—a robust LiDAR-inertial odometry framework—significantly improves unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAV) in 3D mappin… Show more
Set email alert for when this publication receives citations?
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.