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http://dx.doi.org/10.7746/jkros.2022.17.4.397

Loosely Coupled LiDAR-visual Mapping and Navigation of AMR in Logistic Environments  

Choi, Byunghee (Department of Robotics Engineering, YeungNam University)
Kang, Gyeongsu (Department of Robotics Engineering, YeungNam University)
Roh, Yejin (Department of Robotics Engineering, YeungNam University)
Cho, Younggun (Department of Electrical Engineering, Inha University)
Publication Information
The Journal of Korea Robotics Society / v.17, no.4, 2022 , pp. 397-406 More about this Journal
Abstract
This paper presents an autonomous mobile robot (AMR) system and operation algorithms for logistic and factory facilities without magnet-lines installation. Unlike widely used AMR systems, we propose an EKF-based loosely coupled fusion of LiDAR measurements and visual markers. Our method first constructs occupancy grid and visual marker map in the mapping process and utilizes prebuilt maps for precise localization. Also, we developed a waypoint-based navigation pipeline for robust autonomous operation in unconstrained environments. The proposed system estimates the robot pose using by updating the state with the fusion of visual marker and LiDAR measurements. Finally, we tested the proposed method in indoor environments and existing factory facilities for evaluation. In experimental results, this paper represents the performance of our system compared to the well-known LiDAR-based localization and navigation system.
Keywords
AMR; SLAM; Localization; Navigation;
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Times Cited By KSCI : 1  (Citation Analysis)
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