Robot Localization in Tunnels: Combining Discrete Features in a Pose Graph Framework

Robot Localization in Tunnels: Combining Discrete Features in a Pose Graph Framework

Robot localization inside tunnels is a challenging task due to the special conditions of these environments. The GPS-denied nature of these scenarios, coupled with the low visibility, slippery and irregular surfaces, and lack of distinguishable visual and structural features, make traditional roboti...

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Bibliographic Details
Main Authors: Teresa Seco, María T. Lázaro, Jesús Espelosín, Luis Montano, José L. Villarroel
Format: Article
Language:English
Published: MDPI AG 2022-02-01
Series:Sensors
Subjects:
localization
tunnel
pose-graph
inspection
RF propagation
robotics
Online Access:https://www.mdpi.com/1424-8220/22/4/1390

Internet

https://www.mdpi.com/1424-8220/22/4/1390

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