Förstudie: Robust kartering och positionsbestämning med soldatburna sensorer


  • Thord Andersson

Publish date: 2008-10-20

Report number: FOI-R--2525--SE

Pages: 29

Written in: Swedish


  • Localization
  • Mapping
  • SLAM
  • Tracking
  • Data Fusion


We want to enable a small number of soldiers to automatically map their surroundings while simultaneously estimating their positions relative this map. These new abilities would enhance the situational awareness of the soldiers in situations where GPS or other localization means are not available or dependable, for instance when entering an urban building. This feasibility study show how SLAM, a method from robotics, can be used together with simple wearable sensors and communication equipment for simultaneous localization and mapping. In addition, automatic tracking of moving objects in the vicinity of the soldiers is discussed.

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