A New Approach to Sonar Based Indoor Mapping Localization

2005 ◽  
Author(s):  
A. Meghdari ◽  
K. Kobravi ◽  
H. Safyallah ◽  
M. Moeeni ◽  
Y. Khatami ◽  
...  
Keyword(s):  
Efficient Algorithm ◽  
Robot Navigation ◽  
Laser Scanner ◽  
Indoor Environments ◽  
Scanner Data ◽  
Narrow Beam ◽  
New Approach ◽  
Vehicle Localization ◽  
Environment Map ◽  
Map Generation

Vehicle localization and environment mapping are the most essential parts of the robot navigation in unknown environments. Since the problem of localization in indoor environments is directly related to the problem of online map generation, in this paper a new and efficient algorithm for simultaneous localization and map generation is proposed and novel results for real environments are achieved. This new algorithm interprets and validates the raw sonar measurements in first step, and applies them to the environment map in the next step. There are various adjustable parameters which make the algorithm flexible for different sonar types. This algorithm is efficient and is robust to sonar failure; if sonar does not work properly data can be discarded. These abilities make the algorithm efficient for sonar navigation in flat environments even by poor sonar and odometers perception data. This algorithm has the ability of matching with various types of sonar and even to be used with laser scanner data, whenever each laser scanner data is treated as multiple sonar detections with narrow beam detection patterns.

scholarly journals An Orthogonal Weighted Occupancy Likelihood Map with IMU-Aided Laser Scan Matching for 2D Indoor Mapping

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1742 ◽  
Author(s):  
Chuang Qian ◽  
Hongjuan Zhang ◽  
Jian Tang ◽  
Bijun Li ◽  
Hui Liu
Keyword(s):  
Laser Scanner ◽  
Location Based Services ◽  
Experimental Result ◽  
Measurement Unit ◽  
Indoor Environments ◽  
Localization And Mapping ◽  
Map Generation ◽  
Representation Method ◽  
Rigid Body Transformation ◽  
Grid Based

An indoor map is a piece of infrastructure associated with location-based services. Simultaneous Localization and Mapping (SLAM)-based mobile mapping is an efficient method to construct an indoor map. This paper proposes an SLAM algorithm based on a laser scanner and an Inertial Measurement Unit (IMU) for 2D indoor mapping. A grid-based occupancy likelihood map is chosen as the map representation method and is built from all previous scans. Scan-to-map matching is utilized to find the optimal rigid-body transformation in order to avoid the accumulation of matching errors. Map generation and update are probabilistically motivated. According to the assumption that the orthogonal is the main feature of indoor environments, we propose a lightweight segment extraction method, based on the orthogonal blurred segments (OBS) method. Instead of calculating the parameters of segments, we give the scan points contained in blurred segments a greater weight during the construction of the grid-based occupancy likelihood map, which we call the orthogonal feature weighted occupancy likelihood map (OWOLM). The OWOLM enhances the occupancy likelihood map by fusing the orthogonal features. It can filter out noise scan points, produced by objects, such as glass cabinets and bookcases. Experiments were carried out in a library, which is a representative indoor environment, consisting of orthogonal features. The experimental result proves that, compared with the general occupancy likelihood map, the OWOLM can effectively reduce accumulated errors and construct a clearer indoor map.

scholarly journals A glacier inventory for South Tyrol, Italy, based on airborne laser-scanner data

2009 ◽  
Vol 50 (53) ◽  
pp. 46-52 ◽  
Author(s):  
Christoph Knoll ◽  
Hanns Kerschner
Keyword(s):  
Laser Scanner ◽  
Glacier Area ◽  
Scanner Data ◽  
Equilibrium Line Altitude ◽  
Glacier Inventory ◽  
New Approach ◽  
Airborne Laser Scanner ◽  
South Tyrol ◽  
Airborne Laser ◽  
Digital Elevation

AbstractA new approach to glacier inventory, based on airborne laser-scanner data, has been applied to South Tyrol, Italy: it yields highly accurate results with a minimum of human supervision. Earlier inventories, from 1983 and 1997, are used to compare changes in area, volume and equilibrium-line altitude. A reduction of 32% was observed in glacier area from 1983 to 2006. Volume change, derived from the 1997 and 2006 digital elevation models, was –1.037 km3, and an ELA rise of 54 m, to almost 3000 m a.s.l., was calculated for this period. Losses vary widely for individual glaciers, but have accelerated for all South Tyrolean glaciers since the first inventory in 1983.

3D Perception and Environment Map Generation for Humanoid Robot Navigation

2008 ◽  
Vol 27 (10) ◽  
pp. 1117-1134 ◽  
Author(s):  
Jens-Steffen Gutmann ◽  
Masaki Fukuchi ◽  
Masahiro Fujita
Keyword(s):  
Humanoid Robot ◽  
Robot Navigation ◽  
3D Perception ◽  
Environment Map ◽  
Map Generation

Accurate Vehicle Localization using DTW between Range Data Map and Laser Scanner Data Sequences

2007 ◽  
Author(s):  
Nao Shibuhisa ◽  
Junji Sato ◽  
Tomokazu Takahashi ◽  
Ichiro Ide ◽  
Hiroshi Murase ◽  
...  
Keyword(s):  
Laser Scanner ◽  
Range Data ◽  
Scanner Data ◽  
Vehicle Localization

scholarly journals INDOOR MAPPING EYEWEAR: GEOMETRIC EVALUATION OF SPATIAL MAPPING CAPABILITY OF HOLOLENS

2019 ◽  
Vol XLII-2/W13 ◽  
pp. 805-810 ◽  
Author(s):  
K. Khoshelham ◽  
H. Tran ◽  
D. Acharya
Keyword(s):  
Emergency Response ◽  
High Efficiency ◽  
Mixed Reality ◽  
Laser Scanner ◽  
Spatial Mapping ◽  
Indoor Environments ◽  
Scanner Data ◽  
Complex Environments ◽  
Microsoft Hololens ◽  
Mapping Systems

<p><strong>Abstract.</strong> Existing indoor mapping systems have limitations in terms of time efficiency and flexibility in complex environments. While backpack and handheld systems are more flexible and can be used for mapping multi-storey buildings, in some application scenarios, e.g. emergency response, a light-weight indoor mapping eyewear or head-mounted system has practical advantages. In this paper, we investigate the spatial mapping capability of Microsoft Hololens mixed reality eyewear for 3D mapping of large indoor environments. We provide a geometric evaluation of 3D mesh data captured by the Hololens in terms of local precision, coverage, and global correctness in comparison with terrestrial laser scanner data and a reference 3D model. The results indicate the high efficiency and flexibility of Hololens for rapid mapping of relatively large indoor environments with high completeness and centimetre level accuracy.</p>

Obtaining morphometric variables from gullies using two methods of interpolation laser scanner data: the case study of Vassouras, Brazil

2020 ◽  
Vol 17 (12) ◽  
pp. 3012-3023
Author(s):  
Carlos Magno Moreira de Oliveira ◽  
Márcio Rocha Francelino ◽  
Bruno Araujo Furtado de Mendonça ◽  
Isabela Queiroz Ramos
Keyword(s):  
Laser Scanner ◽  
Scanner Data

scholarly journals LiDAR-Based Glass Detection for Improved Occupancy Grid Mapping

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2263
Author(s):  
Haileleol Tibebu ◽  
Jamie Roche ◽  
Varuna De Silva ◽  
Ahmet Kondoz
Keyword(s):  
Laser Scanner ◽  
Point Clouds ◽  
Light Detection And Ranging ◽  
Test Results ◽  
New Approach ◽  
Occupancy Grid ◽  
Laser Scanners ◽  
Novel Method ◽  
Occupancy Grid Mapping ◽  
Cartesian Coordinate

Creating an accurate awareness of the environment using laser scanners is a major challenge in robotics and auto industries. LiDAR (light detection and ranging) is a powerful laser scanner that provides a detailed map of the environment. However, efficient and accurate mapping of the environment is yet to be obtained, as most modern environments contain glass, which is invisible to LiDAR. In this paper, a method to effectively detect and localise glass using LiDAR sensors is proposed. This new approach is based on the variation of range measurements between neighbouring point clouds, using a two-step filter. The first filter examines the change in the standard deviation of neighbouring clouds. The second filter uses a change in distance and intensity between neighbouring pules to refine the results from the first filter and estimate the glass profile width before updating the cartesian coordinate and range measurement by the instrument. Test results demonstrate the detection and localisation of glass and the elimination of errors caused by glass in occupancy grid maps. This novel method detects frameless glass from a long range and does not depend on intensity peak with an accuracy of 96.2%.

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