- Conference Paper
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%. Show more
Book titleProceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC)
Journal / seriesISARC Proceedings
Pages / Article No.
PublisherInternational Association for Automation and Robotics in Construction (IAARC)
SubjectConstruction robotics; Localisation; On-site robotic construction
Organisational unit03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
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