可視光測位とSLAMを統合したロボット自己位置推定・ナビゲーションシステム
Technology Report : Robotic Localization and Navigation System for Visible Light Positioning and SLAM
LiDAR・オドメトリ・ローリングシャッターカメラと可視光測位を緩結合で融合し、LEDが少ない環境でも高精度かつロバストなロボット測位を実現した研究。
著者: Weipeng Guan, Patrick Yue
分類: cs.RO
原文アブストラクト
Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions. Additionally, due to complicated indoor environments, it is still challenging to develop a robust VLP. In this work, we proposed loosely-coupled multi-sensor fusion method based on VLP and Simultaneous Localization and Mapping (SLAM), with light detection and ranging (LiDAR), odometry, and rolling shutter camera. Our method can provide accurate and robust robotics localization and navigation in LED-shortage or even outage situations. The efficacy of the proposed scheme is verified by extensive real-time experiment. The results show that our proposed scheme can provide an average accuracy of 2 cm and the average computational time in low-cost embedded platforms is around 50 ms.
