# A Single LiDAR-Based Feature Fusion Indoor Localization Algorithm

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## Abstract

**:**

## 1. Introduction

## 2. Feature Extraction

#### 2.1. The Main Concept of Feature Extraction

#### 2.2. A Novel Method for Finding Clusters

#### 2.3. Split and Merge for Corner and Line Extractions

## 3. The Proposed Method: WP-ICP

#### 3.1. Pose Estimation Algorithm

#### 3.2. A Weighted Parallel ICP Pose Estimation Algorithm

## 4. Experiments and Discussions

_{c}= 10 cm is used for the split and merge process. For each iteration, the weights for ICP will be set to zero if the distances between the points’ correspondences are greater than 50 cm. This threshold is determined in accordance with the maximum moving speed of the robot.

^{2}and contained different sized objects like flowerpots and water-cooler as shown in Figure 14, which can be taken as unknown disturbances for post estimation. These objects were added later in the environment, and hence can be used to test the feasibility and robustness of the proposed WP-ICP algorithm in dynamic environments.

## 5. Conclusions

## Acknowledgments

## Author Contributions

## Conflicts of Interest

## References

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**Figure 5.**Incorrect point registration caused by the nearest neighbor search (NNS) Iterative Closest Point (ICP) algorithm.

**Figure 6.**Illustration of feature-based point cloud registration. (

**a**) Corner features are matched to corresponding corner features (

**b**) Line features are matched to corresponding line features.

**Figure 9.**Scene-1: a robot moves in a clear environment with no obstacles. (

**a**) Experimental environment. (

**b**) Robot is moved in a guided rectangular path. (

**c**) Robot is moved randomly.

**Figure 15.**Localization by the WP-ICP with 10 cm interpolation. Upper left corner subplot: corner features. Lower left corner subplot: line features. Right subplot: layout and estimated robot trajectory.

**Figure 20.**An environment with unknown moving objects. (

**a**) Random snapshot 1. (

**b**) Random snapshot 2.

**Figure 21.**Localization result by using full-points ICP. (

**a**) Point registration. (

**b**) Robot trajectories.

**Figure 22.**Localization result by using corner features only (where the line information was not fused for the localization).

Experimental Environment | Pose Estimation Algorithm | Average ICP Iteration |
---|---|---|

Scene-1 Exp.1 | Full-Points ICP | 25.36 |

Corner-Based ICP | 2.06 | |

WP-ICP | 2.06/2.04 (corner/line) | |

Scene-1 Exp.2 | Full-Points ICP | 30.10 |

Corner-Based ICP | 2.04 | |

WP-ICP | 2.05/2.04 (corner/line) | |

Scene-2 | Full-Points ICP | 49.92 |

Corner-Based ICP | 2.49 | |

WP-ICP | 2.61/2.85 (corner/line) | |

WP-ICP with 10cm Interpolation | 2.87/9.25 (corner/line) |

Localization Algorithm | Model Set Size (Points) | Average ICP Iterations | Total ICP Iterations | Local. Error (mm) Avg/Max |
---|---|---|---|---|

Full-Points ICP (Point-to-Point ICP) | 1991 | 35 | 86687 | taken as ground truth |

WP-ICP with 10 cm Interpolation | 213 | 13 | 30838 | 53.7/261.3 |

WP-ICP with 20 cm Interpolation | 114 | 9 | 22981 | 60.5/264.6 |

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**MDPI and ACS Style**

Wang, Y.-T.; Peng, C.-C.; Ravankar, A.A.; Ravankar, A. A Single LiDAR-Based Feature Fusion Indoor Localization Algorithm. *Sensors* **2018**, *18*, 1294.
https://doi.org/10.3390/s18041294

**AMA Style**

Wang Y-T, Peng C-C, Ravankar AA, Ravankar A. A Single LiDAR-Based Feature Fusion Indoor Localization Algorithm. *Sensors*. 2018; 18(4):1294.
https://doi.org/10.3390/s18041294

**Chicago/Turabian Style**

Wang, Yun-Ting, Chao-Chung Peng, Ankit A. Ravankar, and Abhijeet Ravankar. 2018. "A Single LiDAR-Based Feature Fusion Indoor Localization Algorithm" *Sensors* 18, no. 4: 1294.
https://doi.org/10.3390/s18041294