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Vol. 32, No. 8(2), S&M2292

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Sensors and Materials
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Sensors and Materials, Volume 32, Number 7(1) (2020)
Copyright(C) MYU K.K.
pp. 2289-2301
S&M2258 Research Paper of Special Issue
https://doi.org/10.18494/SAM.2020.2879
Published: July 10, 2020

A Closed Loop Detection Method for Lidar Simultaneous Localization and Mapping with Light Calibration Information [PDF]

Qiang Wang, Yong Zeng, Yin-Kang Zou, and Quan-Zhen Li

(Received April 16, 2019; Accepted May 20, 2020)

Keywords: mobile robots, SLAM, loop closure detection, Li-Fi, EKF

In this work, we study the loop detection problem for mobile robots in the process of simultaneous localization and mapping. In a complex environment, the accuracy and recall rate of loop detection will decrease significantly because of the lack of prominent environmental state information. The proposed method combines light fidelity (Li-Fi), used for sensing the position of mobile robots, with laser ranging technology to recognize the location that the robot has been aware of during the period of locating and mapping. A shortest link processing mechanism for Li-Fi calibration is proposed to select data, thus smoothing the system. Using an extended Kalman filter, we construct virtual consistent state components of Li-Fi information. Scans are enriched by providing more environmental information in this method. A distance-region model is designed to reduce the amount of calculation appropriately in the process of scan matching. The transformation between frames is reconstructed using a weight distribution from the data of laser and photoelectric sensors to reduce the error of data association. To reduce the impact of Li-Fi link occlusion, we set up a pause mechanism during the period of fusing information in the process of scan-to-map matching. Results of experiments in corridors and offices show that the proposed method can detect key frames, effectively suppress pose drift, improve the accuracy, and guarantee a satisfactory recall rate of loop closure detection.

Corresponding author: Yong Zeng


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Cite this article
Qiang Wang, Yong Zeng, Yin-Kang Zou, and Quan-Zhen Li, A Closed Loop Detection Method for Lidar Simultaneous Localization and Mapping with Light Calibration Information, Sens. Mater., Vol. 32, No. 7, 2020, p. 2289-2301.



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