Indoor Environment Reconstruction for Unmanned System Using Multiple Low-Cost Sensors
Yunshu Wang,
Bin Ding,
Haiqing Wang
et al.
Abstract:Considering that laser scan stations are expensive and heavy for the indoor environment reconstruction of unmanned systems, a low-cost and light reconstruction system is proposed in this research. The system consists of a cross-structured light visual (SLV) sensor and an inertial navigation system (INS). The cross-SLV sensor is used to scan the surroundings and to estimate the angle change between two adjacent measurements. To improve the robustness and accuracy of the angle measurement, a Kalman Filter (KF) w… Show more
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