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Author(s):
Sattar, M. H. 
Title:
Model Aware LiDAR Odometry and Mapping (MA-LOAM): Improving Simultaneous Localization and Mapping accuracy by robustly leveraging a Building Information Model 
Abstract:
The ability to accurately determine the position of an agent in an unknown environment is of crucial importance for the Simultaneous Localization And Mapping (SLAM) problem. Better localization and odometry estimates lead to improved map generation. This map forms the basis of most robot navigation stacks and is essential for driving without human interference. With the increase in automation along with the use of robotics, there is an increased need to refine the SLAM related methodologies. Whi...    »
 
Keywords:
BIM; IFC; INTREPID; 
Subject:
ALL Allgemeines 
Supervisor:
Vega, M.A.; Oelsch, M. 
Year:
2022 
Year / month:
2022-02 
Month:
Feb 
University:
Technische Universität München