The research project SLAMantic is a cooperation between the Institute for Photogrammetry and Geoinformatics, University of Stuttgart and the company IGI, a provider for GNSS/IMU navigation for airborne and land applications. Especially for terrestrial applications like the control of construction machines, GNSS occlusion and multi-path effects can limit the quality of the estimated trajectory. In order to enable highly accurate georeferencing also for such difficult conditions, a LiDAR SLAM component is integrated to support the GNSS/IMU measurements. For this purpose, both a high precision scan matching component as well as an automatic filter to eliminate moving objects are developed.
Reconstructed trajectory and LiDAR point cloud