IEEE - Institute of Electrical and Electronics Engineers, Inc. - Spatio-Temporally Smooth Local Mapping and State Estimation Inside Generalized Cylinders With Micro Aerial Vehicles

Author(s): Tolga Ozaslan ; Giuseppe Loianno ; James Keller ; Camillo J. Taylor ; Vijay Kumar
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2018
Volume: 3
Page(s): 4,209 - 4,216
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2018.2861888
Regular:

In this letter, we consider state estimation and local mapping with a micro aerial vehicle inside a tunnel that can be modeled as a generalized cylinder, using a three-dimensional lidar and an... View More

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