Lorenzo Alfonso
DESIGN OF AN INDOOR LOCALIZATION SYSTEM BASED ON LIDAR.
Rel. Roberto Garello, Orlando Tovar Ordonez. Politecnico di Torino, Master of science program in Communications And Computer Networks Engineering, 2020
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Abstract
1 INTRODUCTION Many different technologies like GPS and radar have been used to localize, to map environments and to detect objects over time those let vehicles to move. In this thesis, I analyze Lidar, especially in indoor, to let robots, drones, cars, etc. to move without a driver. One of the most popular sensor, the GPS, doesn’t give a good accuracy in dense urban environments because the signal availability changes over time, thus its potential for autonomous vehicles is limited; moreover, when it’s integrated with IMU, errors can be accumulated when the vehicle travels because the measured positions don’t follow the true position.
Camera based localization has the drawback to be sensitive to the changes of illumination, to observation angle and it can be affected by weather too; furthermore, when it’s equipped with RANSAC algorithm, it’s not good to distinguish stationary objects from objects in movement
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