2018/11/07 by Yang Song, Song, Yang, Mingyang Guan +7 · 1 citation
Engineering · #FOS: Computer and information sciences #Indoor and Outdoor Localization Technologies #Robotics (cs.RO) #Robotics and Sensor-Based Localization #Underwater Vehicles and Communication Systems
paper · pdf · doi:10.48550/arxiv.1811.02854
openalex publication_date 2018/11/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming a cooperative sensor network. We propose to fuse the peer-to-peer ranges measured between UWB nodes and laser scanning information, i.e. range measured between robot and nearby objects/obstacles, for simultaneous localization of the robot, all UWB beacons, and LiDAR mapping. The fusion is inspired by two facts: 1) LiDAR may improve UWB-only localization accuracy as it gives a more precise and comprehensive picture of the surrounding environment; 2) on the other hand, UWB ranging measurements may remove the error accumulated in the LiDAR-based SLAM algorithm. Our experiments demonstrate that UWB/LiDAR fusion enables drift-free SLAM in real-time based on ranging measurements only.