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

doi:10.48550/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

Department of Aerospace Engineering

Research output: Working paper › Preprint

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.

Original language	Undefined/Unknown
DOIs	https://doi.org/10.48550/arXiv.1910.13085
Publication status	Published - 29 Oct 2019

Bibliographical note

Accepted to IROS 2019 Workshop on Challenges in Vision-based Drones Navigation

Keywords

cs.RO
cs.SY
eess.SY

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10.48550/arXiv.1910.13085

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Cite this

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title = "Toward Underground Localization: Lidar Inertial Odometry Enabled Aerial Robot Navigation",

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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note = "Accepted to IROS 2019 Workshop on Challenges in Vision-based Drones Navigation",

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doi = "10.48550/arXiv.1910.13085",

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AU - Chow, Jiun Fatt

AU - Kocer, Basaran Bahadir

AU - Henawy, John

AU - Seet, Gerald

AU - Li, Zhengguo

AU - Yau, Wei Yun

AU - Pratama, Mahardhika

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AB - 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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