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

<table class="table-group" id="tab5"><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">Mean</td><td class="align_center">Maximum</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Post-EKF</td><td class="align_center">1.69 ms</td><td class="align_center">88.65 ms</td></tr><tr><td class="align_left">Online EKF</td><td class="align_center">0.28 ms</td><td class="align_center">3.76 ms</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

The output delay statistics with online-EKF solution and post-EKF solution.

Mobile Information Systems

tab5

Table 5

Table 5: An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping 