Estimating the Localizability in Tunnel-like Environments using LiDAR and UWB

Weikun Zhen and Sebastian Scherer
Conference Paper, 2019 International Conference on Robotics and Automation (ICRA), May, 2019

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The application of robots in inspection tasks has been growing quickly thanks to the advancements in autonomous navigation technology, especially the robot localization techniques in GPS-denied environments. Although many methods have been proposed to localize a robot using onboard sensors such as cameras and LiDARs, achieving robust localization in geometrically degenerated environments, e.g. tunnels, remains a challenging problem. In this work, we focus on the robust localization problem in such situations. A novel degeneration characterization model is presented to estimate the localizability at a given location in the prior map. And the localizability of a LiDAR and an Ultra-Wideband (UWB) ranging radio is analyzed. Additionally, a probabilistic sensor fusion method is developed to combine IMU, LiDAR and the UWB. Experiment results show that this method allows for robust localization inside a long straight tunnel.

author = {Weikun Zhen and Sebastian Scherer},
title = {Estimating the Localizability in Tunnel-like Environments using LiDAR and UWB},
booktitle = {2019 International Conference on Robotics and Automation (ICRA)},
year = {2019},
month = {May},
publisher = {IEEE},
keywords = {Localizability Estimation, Tunnel Localization, LiDAR, Ultra-Wideband, Sensor Fusion},
} 2019-06-04T15:33:19-04:00