Precise Robot Localization in Architectural 3D Plans
dc.contributor.author
Blum, Hermann
dc.contributor.author
Stiefel, Julian
dc.contributor.author
Cadena, Cesar
dc.contributor.author
Siegwart, Roland
dc.contributor.author
Gawel, Abel
dc.contributor.editor
Feng, Chen
dc.contributor.editor
Linner, Thomas
dc.contributor.editor
Brilakis, Ioannis
dc.date.accessioned
2021-11-30T14:52:49Z
dc.date.available
2021-11-29T10:08:03Z
dc.date.available
2021-11-30T14:52:49Z
dc.date.issued
2021-11
dc.identifier.isbn
978-952-69524-1-3
en_US
dc.identifier.issn
2413-5844
dc.identifier.other
10.22260/isarc2021/0102
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/517467
dc.description.abstract
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for locally accurate registration. We further fuse a novel camera-based robust outlier detector with LiDAR data to reject a wide range of outlier measurements from clutter, dynamic objects, and sensor failures. We evaluate the proposed approach on a mobile robot in a challenging real world site. In presence of clutter and model deviations, our system reduces the localization error by at least 30%.
en_US
dc.language.iso
en
en_US
dc.publisher
International Association for Automation and Robotics in Construction (IAARC)
en_US
dc.subject
Construction robotics
en_US
dc.subject
Localisation
en_US
dc.subject
On-site robotic construction
en_US
dc.title
Precise Robot Localization in Architectural 3D Plans
en_US
dc.type
Conference Paper
ethz.book.title
Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC)
en_US
ethz.journal.title
ISARC Proceedings
ethz.journal.abbreviated
Proc. ISARC
ethz.pages.start
755
en_US
ethz.pages.end
762
en_US
ethz.event
38th International Symposium on Automation and Robotics in Construction (ISARC 2021)
en_US
ethz.event.location
Online
en_US
ethz.event.date
November 2-4, 2021
en_US
ethz.publication.place
s.l.
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.date.deposited
2021-11-29T10:08:09Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2021-11-30T14:52:56Z
ethz.rosetta.lastUpdated
2022-03-29T16:20:54Z
ethz.rosetta.versionExported
true
ethz.COinS
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Conference Paper [35729]