SolarSLAM: Battery-free Loop Closure for Indoor Localisation

Wei, Bo, Xu, Weitao, Luo, Chengwen, Zoppi, Guillaume, Ma, Dong and Wang, Sen (2020) SolarSLAM: Battery-free Loop Closure for Indoor Localisation. In: Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020): October 25-29, 2020, Las Vegas, NV, USA. IEEE, Piscataway, NJ. (In Press)

[img]
Preview
Text
SolarSLAM_2_.pdf - Accepted Version

Download (1MB) | Preview

Abstract

In this paper, we propose SolarSLAM, a battery-free loop closure method for indoor localisation. Inertial Measurement Unit (IMU) based indoor localisation method has been widely used due to its ubiquity in mobile devices, such as mobile phones, smartwatches and wearable bands. However, it suffers from the unavoidable long term drift. To mitigate the localisation error, many loop closure solutions have been proposed using sophisticated sensors, such as cameras, laser, etc. Despite achieving high-precision localisation performance, these sensors consume a huge amount of energy. Different from those solutions, the proposed SolarSLAM takes advantage of an energy harvesting solar cell as a sensor and achieves effective battery-free loop closure method. The proposed method suggests the key-point dynamic time warping for detecting loops and uses robust simultaneous localisation and mapping (SLAM) as the optimiser to remove falsely recognised loop closures. Extensive evaluations in the real environments have been conducted to demonstrate the advantageous photocurrent characteristics for indoor localisation and good localisation accuracy of the proposed method.

Item Type: Book Section
Subjects: G500 Information Systems
G600 Software Engineering
H800 Chemical, Process and Energy Engineering
Department: Faculties > Engineering and Environment > Computer and Information Sciences
Faculties > Engineering and Environment > Mathematics, Physics and Electrical Engineering
Depositing User: Elena Carlaw
Date Deposited: 31 Jul 2020 14:10
Last Modified: 31 Jul 2020 14:15
URI: http://nrl.northumbria.ac.uk/id/eprint/43945

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year

View more statistics