Publications / 2021 Proceedings of the 38th ISARC, Dubai, UAE

Precise Robot Localization in Architectural 3D Plans

Hermann Blum, Julian Stiefel, Cesar Cadena, Roland Siegwart and Abel Gawel
Pages 755-762 (2021 Proceedings of the 38th ISARC, Dubai, UAE, ISBN 978-952-69524-1-3, ISSN 2413-5844)
Abstract:

This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for locally accurate registration. We further fuse a novel camera-based robust outlier detector with LiDAR data to reject a wide range of outlier measurements from clutter, dynamic objects, and sensor failures. We evaluate the proposed approach on a mobile robot in a challenging real world site. In presence of clutter and model deviations, our system reduces the localization error by at least 30%.

Keywords: Construction Robotics; Localisation; On-Site Robotic Construction