Precise Robot Localization in Architectural 3D Plans [article]

Hermann Blum, Julian Stiefel, Cesar Cadena, Roland Siegwart, Abel Gawel
2020 arXiv   pre-print
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
more » ... challenging real world building construction site. It consistently outperforms the traditional ICP-based alingment, reducing localization error by at least 30%.
arXiv:2006.05137v1 fatcat:msmnsoessrfxzo3evekbhvhpe4