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A Single LiDAR-Based Feature Fusion Indoor Localization Algorithm

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Title: A Single LiDAR-Based Feature Fusion Indoor Localization Algorithm
Authors: Wang, Yun-Ting Browse this author
Peng, Chao-Chung Browse this author
Ravankar, Ankit A. Browse this author
Ravankar, Abhijeet Browse this author
Keywords: indoor localization
pose estimation
iterative closet point
Issue Date: Apr-2018
Publisher: MDPI
Journal Title: Sensors
Volume: 18
Issue: 4
Start Page: 1294
Publisher DOI: 10.3390/s18041294
Abstract: In past years, there has been significant progress in the field of indoor robot localization. To precisely recover the position, the robots usually relies on multiple on-board sensors. Nevertheless, this affects the overall system cost and increases computation. In this research work, we considered a light detection and ranging (LiDAR) device as the only sensor for detecting surroundings and propose an efficient indoor localization algorithm. To attenuate the computation effort and preserve localization robustness, a weighted parallel iterative closed point (WP-ICP) with interpolation is presented. As compared to the traditional ICP, the point cloud is first processed to extract corners and line features before applying point registration. Later, points labeled as corners are only matched with the corner candidates. Similarly, points labeled as lines are only matched with the lines candidates. Moreover, their ICP confidence levels are also fused in the algorithm, which make the pose estimation less sensitive to environment uncertainties. The proposed WP-ICP architecture reduces the probability of mismatch and thereby reduces the ICP iterations. Finally, based on given well-constructed indoor layouts, experiment comparisons are carried out under both clean and perturbed environments. It is shown that the proposed method is effective in significantly reducing computation effort and is simultaneously able to preserve localization precision.
Type: article
Appears in Collections:工学院・工学研究院 (Graduate School of Engineering / Faculty of Engineering) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)

Submitter: Ravankar Ankit

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