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
Contact
David Skuddis
M.Sc.Ph.D. Student
Dominik Laupheimer
Dr.-Ing.Research Associate
Norbert Haala
apl. Prof. Dr.-Ing.Deputy Director