Visual-Laser-Inertial SLAM Using a Compact 3D Scanner for Confined Space
Daqian Cheng Haowen Shi Albert Xu Michael Schwerin Michelle Crivella Lu Li Howie Choset Daqian Cheng Haowen Shi Albert Xu Michael Schwerin Michelle Crivella Lu Li Howie Choset
Three-dimensional reconstruction in confined spaces is important for the manufacturing of aircraft wings, inspection of narrow pipes, examination of turbine blades, etc. It is also challenging because confined spaces tend to lack a positioning infrastructure, and conventional sensors often cannot detect objects in close range. Therefore, such tasks require a sensor that is compact, operates in sho...