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arXiv · 1910.13085

Toward Underground Localization: Lidar Inertial Odometry Enabled Aerial Robot Navigation

Jiun Fatt Chow·Basaran Bahadir Kocer·John Henawy·Gerald Seet·Zhengguo Li·Wei Yun Yau·Mahardhika Pratama
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Abstract

Localization can be achieved by different sensors and techniques such as a global positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this paper, we focus on the laser-based localization method for unmanned aerial vehicle (UAV) applications in a GPS denied environment such as a deep tunnel system. Other than a low-cost 2D LiDAR for the planar axes, a single axis Lidar for the vertical axis as well as an inertial measurement unit (IMU) device is used to increase the reliability and accuracy of the localization performance. We present a comparative analysis of the three selected laser-based simultaneous localization and mapping(SLAM) approaches:(i) Hector SLAM; (ii) Gmapping; and(iii) Cartographer. These algorithms have been implemented and tested through real-world experiments. The results are compared with the ground truth data and the experiments are available at https://youtu.be/kQc3mJjw_mw.

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Jiun Fatt Chow, Basaran Bahadir Kocer, John Henawy, Gerald Seet, Zhengguo Li, Wei Yun Yau, Mahardhika Pratama. 2019-10-29. Toward Underground Localization: Lidar Inertial Odometry Enabled Aerial Robot Navigation. https://arxiv.org/abs/1910.13085

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