LIDAR-based Stabilization, Navigation and Localization for UAVs Operating in Dark Indoor Environments

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353985" target="_blank" >RIV/68407700:21230/21:00353985 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICUAS51884.2021.9476837" target="_blank" >https://doi.org/10.1109/ICUAS51884.2021.9476837</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICUAS51884.2021.9476837" target="_blank" >10.1109/ICUAS51884.2021.9476837</a>

Result language
angličtina
Original language name
LIDAR-based Stabilization, Navigation and Localization for UAVs Operating in Dark Indoor Environments
Original language description
Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose from laser scans generated by an inexpensive and lightweight LIDAR. We propose a localization system for lightweight (under 200 g) LIDAR sensors with high reliability in arbitrary environments, where other methods fail. The general nature of the proposed method allows deployment in wide array of applications. Moreover, seamless transitioning between different kinds of environments is possible. The advantage of LIDAR localization is that it is robust to poor illumination, which is often challenging for camera-based solutions in dark indoor environments and in the case of the transition between indoor and outdoor environment. Our approach allows executing tasks in poorly-illuminated indoor locations such as historic buildings and warehouses, as well as in the tight outdoor environment, such as forest, where vision-based approaches fail due to large contrast of the scene, and where large well-equipped UAVs cannot be deployed due to the constrained space.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2021 International Conference on Unmanned Aircraft Systems (ICUAS)
ISBN
978-0-7381-3115-3
ISSN
2373-6720
e-ISSN
2575-7296
Number of pages
9
Pages from-to
243-251
Publisher name
IEEE Xplore
Place of publication
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Event location
Athens
Event date
Jun 15, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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