/Achieving Robust Localization in Geometrically Degenerated Tunnels

Achieving Robust Localization in Geometrically Degenerated Tunnels

Weikun Zhen and Sebastian Scherer
Conference Paper, In Workshop on Challenges and Opportunities for Resilient Collective Intelligence in Subterranean Environments, June, 2018

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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 Reference
@conference{Zhen-2018-107911,
author = {Weikun Zhen and Sebastian Scherer},
title = {Achieving Robust Localization in Geometrically Degenerated Tunnels},
booktitle = {In Workshop on Challenges and Opportunities for Resilient Collective Intelligence in Subterranean Environments},
year = {2018},
month = {June},
}
2018-10-04T15:34:56+00:00