Deep Sensor Fusion between 2D Laser Scanner and IMU for Mobile Robot Localization

Chi Li, Sen Wang, Yan Zhuang, Fei Yan

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Abstract

Multi-sensor fusion plays a key role in 2D laser based robot location and navigation. Although it has achieved great success, there are still some challenges, e.g., being fragile when having large angular rotation. In this paper, we present a deep learning based approach to localizing a mobile robot using a 2D laser and an Inertial Measurement Unit. A novel Recurrent Convolutional Neural Network (RCNN) based architecture is developed to fuse laser and inertial data for scan-to-scan pose estimation. A scan-to-submap optimization is also introduced to optimize the poses estimated by the RCNN for enhanced robustness and accuracy. Extensive experiments have been conducted in both simulation and practice with a real mobile robot, verifying the effectiveness of the proposed deep sensor fusion system.
Original languageEnglish
JournalIEEE Sensors Journal
Early online date12 Apr 2019
DOIs
Publication statusE-pub ahead of print - 12 Apr 2019

Keywords

  • Data fusion
  • Pose estimation
  • 2D laser scanning
  • Inertial measurement unit (IMU)

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