Sensor-based multisource fusion in an unstructured environment mapping and localization

Chenglin Shi; Xuan Sun; Xiangyu Lv; Kaixuan Qi

doi:10.1117/12.3014849

4 March 2024 Sensor-based multisource fusion in an unstructured environment mapping and localization

Chenglin Shi, Xuan Sun, Xiangyu Lv, Kaixuan Qi

Proceedings Volume 12981, Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023); 129810Q (2024) https://doi.org/10.1117/12.3014849
Event: 9th International Symposium on Sensors, Mechatronics, and Automation (ISSMAS 2023), 2023, Nanjing, China

Abstract

For the complex test environment and uneven road surface, a sensor multisource fusion framework was used for point cloud map construction and localization. The internal parameters of IMU were first calibrated, and then the spatial parameters of LiDAR and IMU were calibrated. The calibrated multi-sensor fusion algorithm has better map building effect and stronger localization robustness, which is valuable for mobile robot localization and navigation applications, through experiments at Taian Jichuang robot test site.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Chenglin Shi, Xuan Sun, Xiangyu Lv, and Kaixuan Qi "Sensor-based multisource fusion in an unstructured environment mapping and localization", Proc. SPIE 12981, Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023), 129810Q (4 March 2024); https://doi.org/10.1117/12.3014849

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available