Tasks:
- Design, manufacturing and testing of the personal navigation
system prototype
- Improvement of personal navigation system with perception
sensors and development of simultaneous localization and
mapping algorithms.
- Defining a standard rescue map format
Possible ways for human localization:
- “Human SLAM” based on laser scanner and gyro
- Scan-to-scan and scan-to-map matching techniques Seems
feasible
- Supporting RF/sonar beacon triangulation system
Sensors for human localization:
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Laser Range-finder SICK PLS 100
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3D Orientation modul
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Adverse experiences
- Inertial navigation (DRM + inertial) itself is not suitable
for localization purposes (because of large unbounded errors
)
- Dead reckoning can work only as a supporting approach
for other localization techniques
Project documentation can be found at http://labe.felk.cvut.cz/~pelote/downloads.html
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