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

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center">Post-EKF</td><td class="align_center">Online EKF</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Feature points</td><td class="align_center">67</td><td class="align_center">67</td></tr><tr><td class="align_left">RMS (m)</td><td class="align_center">0.0562</td><td class="align_center">0.0732</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

The comparison of accuracy results statistics for the selected feature points.

Mobile Information Systems

tab4

Table 4

Table 4: An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping 