Localization for mobile robots with a multi-ToF camera system
- Title
- Localization for mobile robots with a multi-ToF camera system
- Authors
- Chaewon Park; Junwoo Son; HAN, SOOHEE
- Date Issued
- 2022-11-27
- Publisher
- ICROS
- Abstract
- The localization of mobile robots is the core function for the various solutions utilizing autonomous mobile
robots. By comparison with 3D LiDAR which is expensive and bulky, the time-of-flight (ToF) camera is inexpensive
and can be miniaturized. So it can greatly contribute to the diffusion of autonomous mobile robots. However, due
to the limitations, such as mixed pixel effect and multipath interference, the measurement of ToF camera is noisy and
inaccurate. Therefore, in order to obtain high-quality pose estimation with the low-cost ToF camera, a preprocessing
process and localization algorithm considering the characteristics of the ToF camera are essential. We experimented with
the possibility of localization using a multi-ToF camera system. In consideration of the FoV of the ToF camera, the scan
data was acquired using a mobile robot with a multi-ToF camera system. The scan data was analyzed by comparing it with
the high-resolution map acquired with the high-precision 3D LiDAR, and a preprocessing process for localization was
implemented, taking account of the analyzed characteristics. By building the localization algorithm utilizing the iterative
closest point (ICP) algorithm, the possibility of localization using the multi-ToF camera system was demonstrated.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/116829
- Article Type
- Conference
- Citation
- 2022 The 22st International Conference on Control, Automation and Systems (ICCAS 2022), 2022-11-27
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