建築3D計画図におけるロボットの高精度位置推定
Precise Robot Localization in Architectural 3D Plans
設計図と実環境のずれに対応するため局所参照とLiDAR・画像の外れ値検出を組み合わせ、建設現場で従来手法より30%以上高精度に自己位置推定するシステムを提案した。
著者: Hermann Blum, Julian Stiefel, Cesar Cadena, Roland Siegwart, Abel Gawel
分類: cs.RO
原文アブストラクト
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for locally accurate registration. We further fuse a novel image-based robust outlier detector with LiDAR data to reject a wide range of outlier measurements from clutter, dynamic objects, and sensor failures. We evaluate the proposed approach on a mobile robot in a challenging real world building construction site. It consistently outperforms the traditional ICP-based alingment, reducing localization error by at least 30%.
