Cooper Dynamics and Control - A Multisensor Data Fusion Approach for Simultaneous Localization and Mapping

Abstract

Simultaneous localization and mapping (SLAM) has been an emerging research topic in the fields of robotics, autonomous driving, and unmanned aerial vehicles over the past thirty years. State of the art SLAM research is often inaccessible for undergraduate student researchers due to expensive hardware and difficult software setup. We present a cost-friendly vehicle research platform and a robust implementation of SLAM. Our SLAM algorithm fuses visual stereo image and 2D light detection and ranging (Lidar) data and uses loop closure for accurate odometry estimation. Our algorithm is benchmarked against other popular SLAM algorithms using the publicly available KITTI dataset and shown to be very accurate.

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Citation

BibTeX citation:

@misc{jin; yifei shao; minjoon so; carl sable; neveen shlayan; dirk martin luchtenburg2019,
  author = {Jin; Yifei Shao; Minjoon So; Carl Sable; Neveen Shlayan;
    Dirk Martin Luchtenburg, Zhekai},
  title = {A {Multisensor} {Data} {Fusion} {Approach} for {Simultaneous}
    {Localization} and {Mapping}},
  date = {2019-11-28},
  url = {https://dluchten.github.io/publications/jin2019ieee},
  doi = {10.1109/ITSC.2019.8916930},
  langid = {en},
  abstract = {Simultaneous localization and mapping (SLAM) has been an
    emerging research topic in the fields of robotics, autonomous
    driving, and unmanned aerial vehicles over the past thirty years.
    State of the art SLAM research is often inaccessible for
    undergraduate student researchers due to expensive hardware and
    difficult software setup. We present a cost-friendly vehicle
    research platform and a robust implementation of SLAM. Our SLAM
    algorithm fuses visual stereo image and 2D light detection and
    ranging (Lidar) data and uses loop closure for accurate odometry
    estimation. Our algorithm is benchmarked against other popular SLAM
    algorithms using the publicly available KITTI dataset and shown to
    be very accurate.}
}

For attribution, please cite this work as:

Jin; Yifei Shao; Minjoon So; Carl Sable; Neveen Shlayan; Dirk Martin Luchtenburg, Zhekai. 2019. “A Multisensor Data Fusion Approach for Simultaneous Localization and Mapping.” IEEE ITSC 2019. https://doi.org/10.1109/ITSC.2019.8916930.