Precise Robot Localization in Architectural 3D Plans

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%.