Flying with Cartographer: Adapting the Cartographer 3D Graph SLAM Stack for UAV Navigation
University of Zagreb, Faculty of Electrical Engineering and Computing（萨格勒布大学电气工程与计算学院）
英文摘要：
This paper describes an application of the Cartographer graph SLAM stack as a pose sensor in a UAV feedback control loop, with certain application-specific changes in the SLAM stack such as smoothing of the optimized pose. Pose estimation is performed by fusing 3D LiDAR/IMU-based proprioception with GPS position measurements by means of pose graph optimisation. Moreover, partial environment maps built from the LiDAR data (submaps) within the Cartographer SLAM stack are marshalled into OctoMap, an Octree-based voxel map implementation. The OctoMap is further used for navigation tasks such as path planning and obstacle avoidance.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
