Absolute localisation in confined spaces using deep geometric features
Abstract When operating in dark and confined spaces, the capacity of the robots to localise in an absolute reference frame is of utmost importance. This letter presents an absolute localisation system, using deep 3D landmarks, for known confined spaces. The system estimates the robot's relative...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-08-01
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| Series: | Electronics Letters |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/ell2.12199 |
| _version_ | 1811183636157825024 |
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| author | Rune Y. Brogaard Ole Ravn Evangelos Boukas |
| author_facet | Rune Y. Brogaard Ole Ravn Evangelos Boukas |
| author_sort | Rune Y. Brogaard |
| collection | DOAJ |
| description | Abstract When operating in dark and confined spaces, the capacity of the robots to localise in an absolute reference frame is of utmost importance. This letter presents an absolute localisation system, using deep 3D landmarks, for known confined spaces. The system estimates the robot's relative localisation using visual inertial odometry. Local deep 3D landmarks are extracted from the robot's view. Similar 3D landmarks are, also, extracted from the prior map which are then registered with the local landmarks to provide absolute localisation via an extended Kalman filter. To the best of knowledge, deep 3D feature registration has not been used before for absolute localisation. The proposed localisation system is tested within a representative application area—i.e. a structured, confined space—and the results indicate greater accuracy and lower processing time when compared to mainstream 3D registration approaches. |
| first_indexed | 2024-04-11T09:50:14Z |
| format | Article |
| id | doaj.art-ed2d0ece9bd64a3e912b2ec445070ce4 |
| institution | Directory Open Access Journal |
| issn | 0013-5194 1350-911X |
| language | English |
| last_indexed | 2024-04-11T09:50:14Z |
| publishDate | 2021-08-01 |
| publisher | Wiley |
| record_format | Article |
| series | Electronics Letters |
| spelling | doaj.art-ed2d0ece9bd64a3e912b2ec445070ce42022-12-22T04:30:51ZengWileyElectronics Letters0013-51941350-911X2021-08-01571662162310.1049/ell2.12199Absolute localisation in confined spaces using deep geometric featuresRune Y. Brogaard0Ole Ravn1Evangelos Boukas2Department of Electrical Engineering Technical University of Denmark Lyngby DenmarkDepartment of Electrical Engineering Technical University of Denmark Lyngby DenmarkDepartment of Electrical Engineering Technical University of Denmark Lyngby DenmarkAbstract When operating in dark and confined spaces, the capacity of the robots to localise in an absolute reference frame is of utmost importance. This letter presents an absolute localisation system, using deep 3D landmarks, for known confined spaces. The system estimates the robot's relative localisation using visual inertial odometry. Local deep 3D landmarks are extracted from the robot's view. Similar 3D landmarks are, also, extracted from the prior map which are then registered with the local landmarks to provide absolute localisation via an extended Kalman filter. To the best of knowledge, deep 3D feature registration has not been used before for absolute localisation. The proposed localisation system is tested within a representative application area—i.e. a structured, confined space—and the results indicate greater accuracy and lower processing time when compared to mainstream 3D registration approaches.https://doi.org/10.1049/ell2.12199Optical, image and video signal processingFiltering methods in signal processingMobile robotsComputer vision and image processing techniques |
| spellingShingle | Rune Y. Brogaard Ole Ravn Evangelos Boukas Absolute localisation in confined spaces using deep geometric features Electronics Letters Optical, image and video signal processing Filtering methods in signal processing Mobile robots Computer vision and image processing techniques |
| title | Absolute localisation in confined spaces using deep geometric features |
| title_full | Absolute localisation in confined spaces using deep geometric features |
| title_fullStr | Absolute localisation in confined spaces using deep geometric features |
| title_full_unstemmed | Absolute localisation in confined spaces using deep geometric features |
| title_short | Absolute localisation in confined spaces using deep geometric features |
| title_sort | absolute localisation in confined spaces using deep geometric features |
| topic | Optical, image and video signal processing Filtering methods in signal processing Mobile robots Computer vision and image processing techniques |
| url | https://doi.org/10.1049/ell2.12199 |
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