Achieving Robust Localization in Geometrically Degenerated Tunnels
Workshop Paper, Workshop on Challenges and Opportunities for Resilient Collective Intelligence in Subterranean Environments, June, 2018
Abstract
Although many methods have been proposed to localize a robot using onboard sensors in GPS-denied environments, achieving robust localization in geometrically degenerated tunnels remains a challenging problem in robot-based inspection tasks. In this work, we first present a novel model to analyze the localizability of the prior map at a given location. Then we propose the utilization of a single Ultra-Wideband (UWB) ranging device to compensate for the degeneration of LiDAR-based localization inside tunnels. A probabilistic sensor fusion method is developed and demonstrated to achieve real-time robust localization inside a geometrically degenerated tunnel.
BibTeX
@workshop{Zhen-2018-107911,author = {Weikun Zhen and Sebastian Scherer},
title = {Achieving Robust Localization in Geometrically Degenerated Tunnels},
booktitle = {Proceedings of Workshop on Challenges and Opportunities for Resilient Collective Intelligence in Subterranean Environments},
year = {2018},
month = {June},
}
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