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http://dx.doi.org/10.9717/kmms.2019.22.7.780

Ceiling-Based Localization of Indoor Robots Using Ceiling-Looking 2D-LiDAR Rotation Module  

An, Jae Won (Dept. of Mechatronics, Chungnam National University)
Ko, Yun-Ho (Dept. of Mechatronics, Chungnam National University)
Publication Information
Journal of Korea Multimedia Society / v.22, no.7, 2019 , pp. 780-789 More about this Journal
Abstract
In this paper, we propose a new indoor localization method for indoor mobile robots using LiDAR. The indoor mobile robots operating in limited areas usually require high-precision localization to provide high level services. The performance of the widely used localization methods based on radio waves or computer vision are highly dependent on their usage environment. Therefore, the reproducibility of the localization is insufficient to provide high level services. To overcome this problem, we propose a new localization method based on the comparison between ceiling shape information obtained from LiDAR measurement and the blueprint. Specifically, the method includes a reliable segmentation method to classify point clouds into connected planes, an effective comparison method to estimate position by matching 3D point clouds and 2D blueprint information. Since the ceiling shape information is rarely changed, the proposed localization method is robust to its usage environment. Simulation results prove that the position error of the proposed localization method is less than 10 cm.
Keywords
Indoor Localization; Indoor Mobile Robot; 2D LiDAR; Ceiling;
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Times Cited By KSCI : 2  (Citation Analysis)
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