Indoor Localization and Visualization Using a Human-Operated Backpack System

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Automated 3D modeling of building interiors is useful in applications such as virtual reality and entertainment. Using a human-operated backpack system equipped with 2D laser scanners and inertial measurement units (IMU), we develop scan matching based algorithms to localize the backpack in complex indoor environments such as a T-shaped corridor intersection, a staircase, and two indoor hallways from two separate floors connected by a staircase.