An Assessment of an Inexpensive COTS 360-Degree Camera for Mapping and Localization in a GPS-Denied Area

Abstract

The efficacy of using a low Size, Weight, Power, and Cost (SWAP-C) Commercial off the Shelf (COTS) 360-degree camera was evaluated for localization and positioning in a GPS-denied environment. Specifically, Open VSLAM was utilized to generate point clouds with negligible drift using a RICOH THETA S 360-degree field of view camera without the aid of an Inertial Measurement Unit (IMU). Open VSLAM is also demonstrated to show that it can localize and position with a pre-generated map.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 2020
Accession Number
AD1101208

Entities

People

  • Garry P. Glaspell

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Autonomous Systems
  • Cameras
  • Cartography
  • Computers
  • Databases
  • Environment
  • Feature Extraction
  • Ground Vehicles
  • Inertial Measurement Units
  • Maps
  • Markup Languages
  • Measurement
  • Operating Systems
  • Point Clouds
  • Robotics
  • Robots
  • Simultaneous Localization And Mapping
  • Situational Awareness
  • Three Dimensional
  • Underground Structures
  • Unmanned Ground Vehicles
  • Urban Areas
  • Wireless Computer Networks

Readers

  • Acoustical Oceanography.
  • Analytical Mechanics
  • Inertial Navigation Systems.

Technology Areas

  • Space