Enhanced Mapping and Positioning System for Navigation and Mapping in GPS Denied Environments
The Johns Hopkins University Applied Physics Laboratory (JHU/APL) has developed the Enhanced Mapping and Positioning System (EMAPS) to automatically create annotated physical maps of GPS-denied environments in real time. This system improves upon Simultaneous Localization and Mapping (SLAM) algorithms developed for use by robotic platforms for navigation. The basic SLAM algorithms have been adapted to allow for the dynamic motion generated by normal human movement through the environment. Novel algorithms have been developed to allow unbounded map generation from a backpack system, while allowing environmental data, including omnidirectional images as well as sensor readings from radiologic and other environmental sensors, to be associated with very accurate map locations. Additionally, three-dimensional (3-D) data may be collected from the environment to generate 3-D point clouds of areas mapped. The basic EMAPS unit is approximately a 6-inch cube weighing less than 4 lb. The EMAPS hardware is composed of the following key components:
The EMAPS unit has collected more than 100 hours of mapping data from a wide array of GPS-denied environments, including six different ships, underground storage facilities, buildings, training areas, and the JHU/APL campus. Maps have been completed with paths of several kilometers in length in environments ranging from simple office buildings to complex engine rooms of ships at sea. The following images show some of the interesting data sets collected.
Patent Status: U.S. patents pending.CONTACT:
Mr. K. Chao
Phone: (443) 778-7927