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Conference Paper
실내 동적환경 대상 자연표식물을 이용한 라이다 기반 전역 위치인식 기술
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- Issue Date
- 2021-07
- Citation
- 대한전자공학회 학술 대회 (하계) 2021, pp.2222-2225
- Publisher
- 대한전자공학회
- Language
- Korean
- Type
- Conference Paper
- Abstract
- This paper presents a method for the mobile robots to estimate the global position in dynamic indoor environments using only natural landmarks based on the LiDAR. The method finds an initial 2D location using the grid-based map and the vertically projected measurements of LiDAR. Based on the initial 2D location, the position of the 6 degree-of-freedom is estimated and tracked using the 3D point cloud and the full data of LiDAR. Experimentally, the performance of the proposed method was verified in a parking lot, where it is a representative dynamic environment, using the 3D LiDAR.
- KSP Keywords
- 3D Lidar, 3D Point Cloud, 6-degree of freedom, Degrees of freedom(DOF), Dynamic Environment, Global position, Grid-based, Indoor environment, Mobile robots, Natural landmarks, Parking lot