Indoor localization algorithms for a human-operated backpack system

摘要: Automated 3D modeling of building interiors is useful in applications such as virtual reality and entertainment. Using a human-operated backpack system equipped with 2D laser scanners and inertial measurement units, we develop four scan-matching-based algorithms to localize the backpack and compare their performance and tradeoffs. We present results for two datasets of a 30-meter-long indoor hallway and compare one of the best performing localization algorithms with a visual-odometry-based method. We find that our scan-matching-based approach results in comparable or higher accuracy.