An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center">RMS error</td><td class="align_center">Mean error</td><td class="align_center">Maximum error</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">North</td><td class="align_center">0.0138 (m)</td><td class="align_center">0.0115 (m)</td><td class="align_center">0.0379 (m)</td></tr><tr><td class="align_left">East</td><td class="align_center">0.0440 (m)</td><td class="align_center">0.0343 (m)</td><td class="align_center">0.0983 (m)</td></tr><tr><td class="align_left">Heading</td><td class="align_center">0.1979 (degree)</td><td class="align_center">0.1513 (degree)</td><td class="align_center">0.5422 (degree)</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

The dynamic positioning difference statistics between online EKF and post-EKF.

Mobile Information Systems

tab3

Table 3

Table 3: An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping 