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Meeting	ACGS Committee Meeting 118 - Minneapolis, MN - October 2016
Agenda Location	8 SUBCOMMITTEE C – AVIONICS AND SYSTEM INTEGRATI 8.3 Flight in Complex Environments Without GPS: Fast, Cheap and Very Much in Control
Title	Flight in Complex Environments Without GPS: Fast, Cheap and Very Much in Control
Presenter	Sanjiv Singh
Affiliation	Carnegie Mellon University
Available Downloads*	presentation
	Downloads are available to members who are logged in and either Active* or attended this meeting.
Abstract	Registration of lidar data during motion is challenging because each measurement is taken from a different location and orientation. Such data are typically registered using inertial sensors and GPS receivers to estimate motion at a high rate and fidelity. However, new methods make it possible to resolve motion in realtime without the need for any GPS. In this talk I will show results of ground and air deployments in which we simultaneously create maps and estimate motion in realtime using laser scanning and low-grade IMUs. Such technology could revolutionize the use of lidar for both state estimation and mapping where GPS is either unreliable or unavailable.