TY - GEN
T1 - Accuracy evaluations of real-time LiDAR-based indoor localization system
AU - Nimura, Misa
AU - Kanai, Kenji
AU - Katto, Jiro
N1 - Funding Information:
ACKNOWLEDGMENT This work was partially supported by NICT, Grant Number 03801, and Grant Number 05601, Japan.
Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
KW - Edge computing
KW - Indoor localization
KW - LiDAR SLAM
KW - ROS
UR - http://www.scopus.com/inward/record.url?scp=85149116675&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85149116675&partnerID=8YFLogxK
U2 - 10.1109/ICCE56470.2023.10043573
DO - 10.1109/ICCE56470.2023.10043573
M3 - Conference contribution
AN - SCOPUS:85149116675
T3 - Digest of Technical Papers - IEEE International Conference on Consumer Electronics
BT - 2023 IEEE International Conference on Consumer Electronics, ICCE 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Consumer Electronics, ICCE 2023
Y2 - 6 January 2023 through 8 January 2023
ER -