2 Jun 2020

PUBLICATION NOTICE: An Assessment of an Inexpensive COTS 360-degree Camera for Mapping and Localization in a GPS-denied Area

Purpose: The efficacy of using a low Size, Weight, Power, and Cost (SWAP-C) Commercial off the Shelf (COTS) 360-degree camera was evaluated for localization and positioning in a GPS-denied environment. Specifically, OpenVSLAM was utilized to generate point clouds with negligible drift using a RICOH THETA S 360-degree field of view camera without the aid of an Inertial Measurement Unit (IMU). OpenVSLAM is also demonstrated to show that it can localize and position with a pre-generated map.