UWB/LiDAR fusion for cooperative range-only SLAM
We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming a cooperative sensor network. We propose to fuse the peer-to...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2020
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| Online Access: | https://hdl.handle.net/10356/141856 |
| _version_ | 1811676359450165248 |
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| author | Song, Yang Guan, Mingyang Tay, Wee Peng Law, Choi Look Wen, Changyun |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Song, Yang Guan, Mingyang Tay, Wee Peng Law, Choi Look Wen, Changyun |
| author_sort | Song, Yang |
| collection | NTU |
| description | We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming a cooperative sensor network. We propose to fuse the peer-to-peer ranges measured between UWB nodes and laser scanning information, i.e., range measured between robot and nearby objects/obstacles, for simultaneous localization of the robot, all UWB beacons and LiDAR mapping. The fusion is inspired by two facts: 1) LiDAR may improve UWB-only localization accuracy as it gives a more precise and comprehensive picture of the surrounding environment; 2) on the other hand, UWB ranging measurements may remove the error accumulated in the LiDAR-based SLAM algorithm. Our experiments demonstrate that UWB/LiDAR fusion enables drift-free SLAM in real-time based on ranging measurements only. |
| first_indexed | 2024-10-01T02:20:13Z |
| format | Conference Paper |
| id | ntu-10356/141856 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:20:13Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1418562020-06-11T05:23:22Z UWB/LiDAR fusion for cooperative range-only SLAM Song, Yang Guan, Mingyang Tay, Wee Peng Law, Choi Look Wen, Changyun School of Electrical and Electronic Engineering 2019 International Conference on Robotics and Automation (ICRA) Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Cooperative Sensor Network 2D LiDAR Sensor We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming a cooperative sensor network. We propose to fuse the peer-to-peer ranges measured between UWB nodes and laser scanning information, i.e., range measured between robot and nearby objects/obstacles, for simultaneous localization of the robot, all UWB beacons and LiDAR mapping. The fusion is inspired by two facts: 1) LiDAR may improve UWB-only localization accuracy as it gives a more precise and comprehensive picture of the surrounding environment; 2) on the other hand, UWB ranging measurements may remove the error accumulated in the LiDAR-based SLAM algorithm. Our experiments demonstrate that UWB/LiDAR fusion enables drift-free SLAM in real-time based on ranging measurements only. NRF (Natl Research Foundation, S’pore) Accepted version 2020-06-11T05:23:22Z 2020-06-11T05:23:22Z 2019 Conference Paper Song, Y., Guan, M., Tay, W. P., Law, C. L., & Wen, C. (2019). UWB/LiDAR fusion for cooperative range-only SLAM. Proceedings of 2019 International Conference on Robotics and Automation (ICRA), 6568-6574. doi:10.1109/ICRA.2019.8794222 978-1-5386-8176-3 1050-4729 https://hdl.handle.net/10356/141856 10.1109/ICRA.2019.8794222 6568 6574 en © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/ICRA.2019.8794222. application/pdf |
| spellingShingle | Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Cooperative Sensor Network 2D LiDAR Sensor Song, Yang Guan, Mingyang Tay, Wee Peng Law, Choi Look Wen, Changyun UWB/LiDAR fusion for cooperative range-only SLAM |
| title | UWB/LiDAR fusion for cooperative range-only SLAM |
| title_full | UWB/LiDAR fusion for cooperative range-only SLAM |
| title_fullStr | UWB/LiDAR fusion for cooperative range-only SLAM |
| title_full_unstemmed | UWB/LiDAR fusion for cooperative range-only SLAM |
| title_short | UWB/LiDAR fusion for cooperative range-only SLAM |
| title_sort | uwb lidar fusion for cooperative range only slam |
| topic | Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Cooperative Sensor Network 2D LiDAR Sensor |
| url | https://hdl.handle.net/10356/141856 |
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