Abstract
Conventional sensor-based localization relies on high-precision maps. These maps are generally built using specialized mapping techniques, which involve high labor and computational costs. While in the architectural, engineering and construction industry, building information models (BIMs) are available and can provide informative descriptions of environments. This paper explores an effective way to localize a mobile 3D LiDAR sensor in BIM considering both geometric and semantic properties. Specifically, we first convert original BIM to semantic maps using categories and locations of BIM elements. After that, a coarse-to-fine semantic localization is performed to align laser points to the map via iterative closest point registration. The experimental results show that the semantic localization can track the pose with only scan matching and present centimeter-level errors over 340 meters traveling, thus demonstrating the feasibility of the proposed mapping-free localization framework. The results also show that using semantic information can help reduce localization errors in BIM.
Abstract (translated)
URL
https://arxiv.org/abs/2205.00816
