Robust robot localization with visually adaptive consensus filters in dynamic corridor environments

IF 5.1 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Engineering Science and Technology-An International Journal-Jestech Pub Date : 2025-02-20 DOI:10.1016/j.jestch.2025.101998

Suhyeon Kang, Heoncheol Lee

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引用次数: 0

Abstract

This paper deals with the problem of robot localization in dynamic corridor environments. If a robot uses only a LiDAR (light detection and ranging) for its localization, the accuracy of robot localization degenerates as time goes due to the occlusions by moving people around a robot and the lack of scan features in corridors. This paper proposes a robust robot localization method with visually adaptive consensus filters (VACF) to solve the problem. The VACF consists of LiDAR odometry estimation, probabilistic localization, visual odometry estimation, optical flow recognition, object detection and adaptive consensus filters. To deal with long corridor environments, optical flow methods are used to correct the robot’s position. For robust localization in dynamic environments, object detection algorithm is used to detect dynamic objects, and localization algorithms are adaptively used as input to a consensus filter based on the number of dynamic objects detected. The VACF was tested in real-world experiments in dynamic corridor environments and showed better accuracy than other existing methods when compared to pre-determined ground truth points.

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来源期刊

Engineering Science and Technology-An International Journal-Jestech Materials Science-Electronic, Optical and Magnetic Materials

CiteScore

11.20

自引率

3.50%

发文量

153

审稿时长

22 days

期刊介绍： Engineering Science and Technology, an International Journal (JESTECH) (formerly Technology), a peer-reviewed quarterly engineering journal, publishes both theoretical and experimental high quality papers of permanent interest, not previously published in journals, in the field of engineering and applied science which aims to promote the theory and practice of technology and engineering. In addition to peer-reviewed original research papers, the Editorial Board welcomes original research reports, state-of-the-art reviews and communications in the broadly defined field of engineering science and technology. The scope of JESTECH includes a wide spectrum of subjects including: -Electrical/Electronics and Computer Engineering (Biomedical Engineering and Instrumentation; Coding, Cryptography, and Information Protection; Communications, Networks, Mobile Computing and Distributed Systems; Compilers and Operating Systems; Computer Architecture, Parallel Processing, and Dependability; Computer Vision and Robotics; Control Theory; Electromagnetic Waves, Microwave Techniques and Antennas; Embedded Systems; Integrated Circuits, VLSI Design, Testing, and CAD; Microelectromechanical Systems; Microelectronics, and Electronic Devices and Circuits; Power, Energy and Energy Conversion Systems; Signal, Image, and Speech Processing) -Mechanical and Civil Engineering (Automotive Technologies; Biomechanics; Construction Materials; Design and Manufacturing; Dynamics and Control; Energy Generation, Utilization, Conversion, and Storage; Fluid Mechanics and Hydraulics; Heat and Mass Transfer; Micro-Nano Sciences; Renewable and Sustainable Energy Technologies; Robotics and Mechatronics; Solid Mechanics and Structure; Thermal Sciences) -Metallurgical and Materials Engineering (Advanced Materials Science; Biomaterials; Ceramic and Inorgnanic Materials; Electronic-Magnetic Materials; Energy and Environment; Materials Characterizastion; Metallurgy; Polymers and Nanocomposites)