Estimating the Localizability in Tunnel-like Environments using LiDAR and UWB
| Autor: | Sebastian Scherer, Weikun Zhen |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Computer science
business.industry 010401 analytical chemistry Probabilistic logic 020302 automobile design & engineering Ranging 02 engineering and technology Sensor fusion 01 natural sciences 0104 chemical sciences Computer Science::Robotics Lidar 0203 mechanical engineering Inertial measurement unit Robot Computer vision Artificial intelligence Focus (optics) business |
| Zdroj: | ICRA |
| DOI: | 10.1109/icra.2019.8794167 |
| Popis: | The application of robots in inspection tasks has been growing quickly thanks to the advancements in autonomous navigation technology, especially the robot localization techniques in GPS-denied environments. Although many methods have been proposed to localize a robot using onboard sensors such as cameras and LiDARs, achieving robust localization in geometrically degenerated environments, e.g. tunnels, remains a challenging problem. In this work, we focus on the robust localization problem in such situations. A novel degeneration characterization model is presented to estimate the localizability at a given location in the prior map. And the localizability of a LiDAR and an Ultra-Wideband (UWB) ranging radio is analyzed. Additionally, a probabilistic sensor fusion method is developed to combine IMU, LiDAR and the UWB. Experiment results show that this method allows for robust localization inside a long straight tunnel. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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