Accuracy evaluations of real-time LiDAR-based indoor localization system

Misa Nimura, Kenji Kanai, Jiro Katto

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

Abstract

Recently, thanks to advancing computing power and evolving image and sensor processing, SLAM (Simultaneous Localization and Mapping) is collecting much attention in broad areas. Inspired by the former research efforts on SLAM, we develop a real-time LiDAR-based indoor localization system in this paper. The system estimates the user's self-position by using LiDAR SLAM and Visual-Inertial Odometry (VIO) and visualizes the user's time-series positions on the building floor map (global map) by adopting a 2D-to-2D localization method. For the system validation, we designed and implemented the prototype handheld system and carried out the validation tests on one floor of our university building. The validation tests confirmed that the system achieves real-time indoor localization.

Original languageEnglish
Title of host publication2023 IEEE International Conference on Consumer Electronics, ICCE 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665491303
DOIs
Publication statusPublished - 2023
Event2023 IEEE International Conference on Consumer Electronics, ICCE 2023 - Las Vegas, United States
Duration: 2023 Jan 62023 Jan 8

Publication series

NameDigest of Technical Papers - IEEE International Conference on Consumer Electronics
Volume2023-January
ISSN (Print)0747-668X

Conference

Conference2023 IEEE International Conference on Consumer Electronics, ICCE 2023
Country/TerritoryUnited States
CityLas Vegas
Period23/1/623/1/8

Keywords

  • Edge computing
  • Indoor localization
  • LiDAR SLAM
  • ROS

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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