Mapping and Localization Within a Mock Sewer System

Abstract

Herein, we explored a robots ability to localize and map, both in simulation and on a physical robot, within a mock sewer system. Mapping and localization techniques were first developed and tested in simulation and were then transitioned to the actual robot for additional physical testing. Several odometry and simultaneous localization and mapping (SLAM) techniques, including mapping, SLAM toolbox, elevation mapping, and RTAB Map, were evaluated for this particular environment. The results of the odometry and the various SLAM approaches are discussed in detail.

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Document Details

Document Type
Technical Report
Publication Date
Sep 20, 2023
Accession Number
AD1211024

Entities

People

  • Amir Naser
  • Anton D. Netchaev
  • Brandon M. Dodd
  • Charles C. Ellison
  • Garry P. Glaspell
  • Jason D. Ray
  • Osama Ennasr

Organizations

  • Engineer Research and Development Center

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Army
  • Army Corps Of Engineers
  • Artificial Intelligence
  • Computational Science
  • Computer-Aided Design
  • Coordinate Systems
  • Detection
  • Detectors
  • Engineers
  • Environment
  • Inertial Measurement Units
  • Kalman Filters
  • Navigation
  • Operating Systems
  • Robotics
  • Simulations
  • Simultaneous Localization And Mapping
  • Unmanned Ground Vehicles

Readers

  • Computer Vision.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy