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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yuwei Chen Jingbin Liu Jaakkola, A. Hyyppa, J. Liang Chen Hyyppa, H. Tang Jian Ruizhi Chen |
| Copyright Year | 2014 |
| Description | Author affiliation: Dept. of Real Estate, Planning & Geoinf., Aalto Univ., Espoo, Finland (Hyyppa, H.) || GNSS Res. Center, Wuhan Univ., Wuhan, China (Tang Jian) || Conrad Blucher Inst. for Surveying & Sci., Texas A & M Univ. Corpus Christi, Corpus Christi, TX, USA (Ruizhi Chen) || Dept. of Remote Sensing & Photogrammetry, Finnish Geodetic Inst., Masala, Finland (Yuwei Chen; Jingbin Liu; Jaakkola, A.; Hyyppa, J.; Liang Chen) |
| Abstract | In this paper, an environment knowledge-based multiple sensors indoor positioning system is designed and tested. The system integrates a LiDAR sensor, an odometer and a light sensor onto a low-cost robot platform. While, a LiDAR point-cloud-based pattern match algorithm - Iterative Closed Point (ICP) is used to estimate the relative change in heading and displacement of the platform. Based on the knowledge of the construction's structure, outdoor weather, and lighting situation, the light sensor offers an efficient parameter to improve indoor position accuracy with a light intensity fingerprint matching algorithm on low computational cost. The estimated heading and position change from LiDAR are eventually fused by Extended Kalman Filter (EKF) with those calculated from the light sensor measurement. The results prove that the spatial structure and the ambient light information in indoor environment as knowledge base can be utilized to estimate and mitigate the accumulated errors and inherent drifts of ICP algorithm. These improvements lead to longer sustainable sub meter-level indoor positioning for UGVs. |
| Sponsorship | IEEE Aerosp. Electron. Syst. Soc. |
| Starting Page | 109 |
| Ending Page | 114 |
| File Size | 3020513 |
| Page Count | 6 |
| File Format | |
| ISSN | 21533598 |
| e-ISBN | 9781479933204 |
| DOI | 10.1109/PLANS.2014.6851364 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-05-05 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Iterative closest point algorithm Fingerprint recognition Laser radar Accuracy Robot sensing systems EKF liDAR indoor position light sensor ICP |
| Content Type | Text |
| Resource Type | Article |
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