TY - GEN
T1 - LIDAR based scan matching for indoor localization
AU - Peng, Chao Chung
AU - Wang, Yun Ting
AU - Chen, Chieh Li
N1 - Funding Information:
This research is supported by the Ministry of Science and Technology under grant number 105-2218-E-006-005 and 106-2221-E-006-138.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - Indoor localization has attracted more and more attention in the past few years. To achieve indoor robot navigation, it usually applies multi-on-board sensors. However, the computation loading could increase dramatically. This paper utilizes a light detection and ranging (LIDAR) device as the only sensor to detect surroundings and develops a new scan matching algorithm to realize indoor localization. To attenuate the computation effort as well as preserve localization robustness and precision, a weighted parallel ICP (WP-ICP) with interpolation is proposed. The accuracy and real time estimation capability of the proposed methods are validated through experiments. Finally, experiment comparisons are carried out and it shows that the proposed method is capable of reducing computation effort significantly and preserve localization precision simultaneously.
AB - Indoor localization has attracted more and more attention in the past few years. To achieve indoor robot navigation, it usually applies multi-on-board sensors. However, the computation loading could increase dramatically. This paper utilizes a light detection and ranging (LIDAR) device as the only sensor to detect surroundings and develops a new scan matching algorithm to realize indoor localization. To attenuate the computation effort as well as preserve localization robustness and precision, a weighted parallel ICP (WP-ICP) with interpolation is proposed. The accuracy and real time estimation capability of the proposed methods are validated through experiments. Finally, experiment comparisons are carried out and it shows that the proposed method is capable of reducing computation effort significantly and preserve localization precision simultaneously.
UR - http://www.scopus.com/inward/record.url?scp=85050882801&partnerID=8YFLogxK
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U2 - 10.1109/SII.2017.8279202
DO - 10.1109/SII.2017.8279202
M3 - Conference contribution
AN - SCOPUS:85050882801
T3 - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
SP - 139
EP - 144
BT - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/SICE International Symposium on System Integration, SII 2017
Y2 - 11 December 2017 through 14 December 2017
ER -