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A synergetic approach to indoor navigation and mapping for aerial reconnaissance and surveillance

机译：一种用于空中侦察和监视的室内导航和制图协同方法

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摘要

Unmanned Air Vehicles (UAVs) lend themselves to provide rescue forces with important information beyond their own field of vision. In this paper, we present a two-part yet synergetic navigation and mapping system for indoor reconnaissance and surveillance through aerial platforms. It faces inherent drawback of common Simultaneous Localization and Mapping (SLAM) approaches: map errors cannot be excluded and will directly afflict the positioning. With a flexible navigation filter and an efficient 2.5D mapping tool as centerpieces, our system facilitates appropriate mutual feedback of supporting information. That is map-based navigation aiding in terms of ego-motion estimation and improved mapping in terms of accuracy, robustness and efficiency. Hereby both modules remain independent in their basic function and are therefore guarded against overlapping errors. Finally, the system is validated by means of real experimental data and a first proof of suitability for application within autonomous exploration is given based on simulated flights.
机译：无人驾驶航空公司（无人机）为自己提供救援部队，以其自身视野之外的重要信息。在本文中，我们展示了一个两部分但协同导航和映射系统，可通过空中平台进行室内侦察和监视。它面临公共同步定位和映射（SLAM）方法的固有缺点：无法排除MAP错误，并将直接折磨定位。通过灵活的导航滤波器和高效的2.5D映射工具作为居中性，我们的系统有助于适当的相互反馈提供支持信息。这是基于地图的导航，从精确，鲁棒性和效率方面都在自我运动估计和改进的映射方面。因此，两个模块在其基本功能中保持独立，因此防止重叠误差。最后，通过真实的实验数据验证系统，并基于模拟飞行给出了自主勘探中的应用程序的第一种适合性证明。

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