LIDAR based scan matching for indoor localization

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
發行者Institute of Electrical and Electronics Engineers Inc.
頁面139-144
頁數6
ISBN(電子)9781538622636
DOIs
出版狀態Published - 2018 二月 1
事件2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan
持續時間: 2017 十二月 112017 十二月 14

出版系列

名字SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
2018-January

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
國家Taiwan
城市Taipei
期間17-12-1117-12-14

All Science Journal Classification (ASJC) codes

  • Modelling and Simulation
  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Materials Science (miscellaneous)
  • Control and Optimization

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