TY - GEN
T1 - Enhanced Mobile Robot Localization with Lidar and IMU Sensor
AU - Phang, Darren Ren Yee
AU - Lee, Wai Kong
AU - Matsuhira, Nobuto
AU - Michail, Papoutsidakis
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - 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.
AB - 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.
KW - Inertial Measurement Unit
KW - Lidar
KW - indoor localization
UR - http://www.scopus.com/inward/record.url?scp=85078723740&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85078723740&partnerID=8YFLogxK
U2 - 10.1109/IMFEDK48381.2019.8950726
DO - 10.1109/IMFEDK48381.2019.8950726
M3 - Conference contribution
AN - SCOPUS:85078723740
T3 - IMFEDK 2019 - International Meeting for Future of Electron Devices, Kansai
SP - 71
EP - 72
BT - IMFEDK 2019 - International Meeting for Future of Electron Devices, Kansai
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th International Meeting for Future of Electron Devices, Kansai, IMFEDK 2019
Y2 - 14 November 2019 through 15 November 2019
ER -