Gyroscopy and Navigation

, Volume 8, Issue 3, pp 181–189 | Cite as

Indoor laser-based SLAM for micro aerial vehicles

  • C. Doer
  • G. ScholzEmail author
  • G. F. Trommer


This article presents a laser-based 2D simultaneous localization and mapping (SLAM) algorithm for indoor environments. An adaption and optimization of a ground vehicle SLAM solution (TinySLAM) for the use with Micro Aerial Vehicles is proposed. Optimizations of the map update strategy and a motion model improves the accuracy strongly. An extension to 3D mapping is introduced. The presented algorithm is tested with simulated and real world data. The optimized SLAM solution maps a whole floor of an office building very accurately and achieves embedded real-time capability.


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Copyright information

© Pleiades Publishing, Ltd. 2017

Authors and Affiliations

  1. 1.Institute of Systems Optimization (ITE)Karlsruhe Institute of Technology (KIT)KarlsruheGermany
  2. 2.ITMO UniversitySt. PetersburgRussia

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