TY - CONF
T1 - Designing a reliable fiducial marker network for autonomous indoor robot navigation
AU - Mantha, B. R.K.
AU - Garcia de Soto, B.
N1 - Funding Information:
This work was funded principally by the Belgian Academy of Higher Education and Research, abbreviated in its French acronym as ARES (https://www.ares-ac.be/fr/) through grant PRD2013CMRSOUOPGUI awarded to JS. The expression in insect cells was funded by INSTRUCT-ERIC (https://www.structuralbiology. eu) through a grant PID:2002 awarded to FNN as well as support from the French Infrastructure for Integrated Structural Biology (FRISBI) ANR-10-INSB-05 awarded to AP. The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript.
Funding Information:
Funding:Thisworkwasfundedprincipallybythe BelgianAcademyofHigherEducationand Research,abbreviatedinitsFrenchacronymas ARES (https://www.ares-ac.be/fr/) through grant PRD2013CMRSOUOPGUIawardedtoJS.The expressionininsectcellswasfundedby INSTRUCT-ERIC(https://www.structuralbiology.
Publisher Copyright:
© 2019 International Association for Automation and Robotics in Construction I.A.A.R.C. All rights reserved.
PY - 2019
Y1 - 2019
N2 - Automation and robotics offer significant potential to address some of the challenges faced by facility managers to efficiently operate and maintain indoor building environments. Previous efforts have focused on deploying mobile service robots for scheduled and periodic tasks such as monitoring, inspecting, and collecting data. Localization and navigation are two of the fundamental capabilities required for any robotic system to accomplish these periodic tasks successfully. Most of the existing approaches for achieving semi/fully autonomous indoor mobile robot navigation either require dense instrumentation of the physical space (e.g., Bluetooth beacons) or are computationally burdensome (e.g., Simultaneous Localization And Mapping). To address these issues, the authors previously developed localization, navigation, and drift correction algorithms based on cost-effective and easily-reconfigurable fiducial markers (e.g., AprilTags). However, these algorithms were based on context-specific assumptions regarding the marker characteristics, sensor capabilities, and environmental conditions. This study comprehensively investigates the design characteristics of a fiducial marker network localization system to achieve autonomous mobile indoor navigation. A generalized framework in the form of a process flow chart is proposed that is agnostic of indoor building environment application, marker category, robot, and facility type. That is, the proposed framework can be used to systematically to design the desired robot, required sensors, and create the optimal marker network map. The feasibility of the proposed approach is explained with the help of a facility management related example. The outcomes of this study can be generally applicable to any mobile robot, building type (e.g., office), and application (e.g., construction progress monitoring).
AB - Automation and robotics offer significant potential to address some of the challenges faced by facility managers to efficiently operate and maintain indoor building environments. Previous efforts have focused on deploying mobile service robots for scheduled and periodic tasks such as monitoring, inspecting, and collecting data. Localization and navigation are two of the fundamental capabilities required for any robotic system to accomplish these periodic tasks successfully. Most of the existing approaches for achieving semi/fully autonomous indoor mobile robot navigation either require dense instrumentation of the physical space (e.g., Bluetooth beacons) or are computationally burdensome (e.g., Simultaneous Localization And Mapping). To address these issues, the authors previously developed localization, navigation, and drift correction algorithms based on cost-effective and easily-reconfigurable fiducial markers (e.g., AprilTags). However, these algorithms were based on context-specific assumptions regarding the marker characteristics, sensor capabilities, and environmental conditions. This study comprehensively investigates the design characteristics of a fiducial marker network localization system to achieve autonomous mobile indoor navigation. A generalized framework in the form of a process flow chart is proposed that is agnostic of indoor building environment application, marker category, robot, and facility type. That is, the proposed framework can be used to systematically to design the desired robot, required sensors, and create the optimal marker network map. The feasibility of the proposed approach is explained with the help of a facility management related example. The outcomes of this study can be generally applicable to any mobile robot, building type (e.g., office), and application (e.g., construction progress monitoring).
KW - Autonomous Robot Navigation
KW - Facility Management
KW - Fiducial Markers
KW - Indoor Localization
UR - http://www.scopus.com/inward/record.url?scp=85071459381&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85071459381&partnerID=8YFLogxK
M3 - Paper
AN - SCOPUS:85071459381
SP - 74
EP - 81
T2 - 36th International Symposium on Automation and Robotics in Construction, ISARC 2019
Y2 - 21 May 2019 through 24 May 2019
ER -