Enhanced Mobile Robot Localization with Lidar and IMU Sensor

Darren Ren Yee Phang, Wai Kong Lee, Nobuto Matsuhira, Papoutsidakis Michail

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Lidar technology is widely used in performing robot localization. However, when only Lidar is being used, the accuracy of localization is not high. In this paper, we present a technique to integrate IMU sensor into a mobile robot equipped with Lidar module. With the heading and direction information (odometer) generated from IMU, the localization error introduced by Lidar can be corrected from time to time. Experimental results show that the robot is able to perform better localization with the introduction of IMU sensor.

Original languageEnglish
Title of host publicationIMFEDK 2019 - International Meeting for Future of Electron Devices, Kansai
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages71-72
Number of pages2
ISBN (Electronic)9781728131627
DOIs
Publication statusPublished - 2019 Nov
Event17th International Meeting for Future of Electron Devices, Kansai, IMFEDK 2019 - Avanti, Kyoto, Japan
Duration: 2019 Nov 142019 Nov 15

Publication series

NameIMFEDK 2019 - International Meeting for Future of Electron Devices, Kansai

Conference

Conference17th International Meeting for Future of Electron Devices, Kansai, IMFEDK 2019
CountryJapan
CityAvanti, Kyoto
Period19/11/1419/11/15

Keywords

  • indoor localization
  • Inertial Measurement Unit
  • Lidar

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Renewable Energy, Sustainability and the Environment
  • Electrical and Electronic Engineering
  • Safety, Risk, Reliability and Quality
  • Electronic, Optical and Magnetic Materials
  • Instrumentation

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  • Cite this

    Phang, D. R. Y., Lee, W. K., Matsuhira, N., & Michail, P. (2019). Enhanced Mobile Robot Localization with Lidar and IMU Sensor. In IMFEDK 2019 - International Meeting for Future of Electron Devices, Kansai (pp. 71-72). [8950726] (IMFEDK 2019 - International Meeting for Future of Electron Devices, Kansai). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IMFEDK48381.2019.8950726