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A Robust and Efficient 3D LADAR Odometer with Outlier Detection
Published online by Cambridge University Press: 28 September 2017
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.
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- Research Article
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- Copyright © The Royal Institute of Navigation 2017