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arXiv · 1811.02854

UWB/LiDAR Fusion For Cooperative Range-Only SLAM

Yang Song·Mingyang Guan·Wee Peng Tay·Choi Look Law·Changyun Wen
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Abstract

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.

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Yang Song, Mingyang Guan, Wee Peng Tay, Choi Look Law, Changyun Wen. 2018-11-07. UWB/LiDAR Fusion For Cooperative Range-Only SLAM. https://arxiv.org/abs/1811.02854

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