UGV SLAM Payload for Low-Visibility Environments

Abstract

Herein, we explore using a low size, weight, power, and cost unmanned ground vehicle payload designed specifically for low-visibility environments. The proposed payload simultaneously localizes and maps in GPS-denied environments via waypoint navigation. This solution utilizes a diverse sensor payload that includes wheel encoders, inertial measurement unit, 3D lidar, 3D ultrasonic sensors, and thermal cameras. Furthermore, the resulting 3D point cloud was compared against a survey-grade lidar.

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Document Details

Document Type
Technical Report
Publication Date
Sep 12, 2023
Accession Number
AD1210344

Entities

People

  • Garry P. Glaspell
  • Michael A. Paquette
  • Osama Ennasr

Organizations

  • Engineer Research and Development Center

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Army Corps Of Engineers
  • Artificial Intelligence
  • Autonomous Systems
  • Cameras
  • Collision Avoidance
  • Detection
  • Detectors
  • Engineers
  • Ground Vehicles
  • Inertial Measurement Units
  • Kalman Filters
  • Laser Radar
  • Measurement
  • Navigation
  • Operating Systems
  • Point Clouds
  • Simultaneous Localization And Mapping
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles

Readers

  • Computer Vision.
  • Robotics and Automation.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy
  • Space
  • Space - Satellites