LILOC: Enabling precise 3D localization in dynamic indoor environments using LiDARs

• Main Authors: RATHNAYAKE, Darshana, RADHAKRISHNAN, Meera, HWANG, Inseok, MISRA, Archan
• Format: text
• Language: English
• Published: Institutional Knowledge at Singapore Management University 2023
• Subjects: LiDAR; 3D Localization; Pose Estimation; Trajectory Tracking; Dynamic Indoor Environments; Data Science; Graphics and Human Computer Interfaces
• Online Access: https://ink.library.smu.edu.sg/sis_research/7887; https://ink.library.smu.edu.sg/context/sis_research/article/8891/viewcontent/3576842.3582364.pdf
• Institution: Singapore Management University

We present LiLoc, a system for precise 3D localization and tracking of mobile IoT devices (e.g., robots) in indoor environments using multi-perspective LiDAR sensing. The key differentiators in our work are: (a) First, unlike traditional localization approaches, our approach is robust to dynamically...