Study on Efficient Multi-floor Navigation Using a Visual Marker and Floor Plan Map

초록

In this study, we investigated a sophisticated system based on fusion map technology for autonomous robot navigation within multi-story buildings. Using visual markers and floor plan, we addressed the challenges encountered in indoor localization and floor recognition. Each floor was assigned a unique visual marker, which enabled initial positioning and floor recognition. The system combined grid and visual marker maps, to outperform conventional LiDAR map-based systems in terms of reliability. Architectural drawings offered an extra layer of consistency, by ensuring similar map structures across different floors of a building. The result was an efficient, reliable system for autonomous navigation in multi-story structures. This is a significant advancement in the field of indoor robot navigation, equipping robots with the necessary information to effectively perceive and navigate each floor of a building, even in complex environments. © ICROS 2024.

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