To overcome the problem of the low accuracy and large accumulated errors of indoor mobile navigation and positioning, a method to integrate the light detection and ranging- and inertial measurement unit-based measurement is proposed. Firstly, the voxel-scale-invariant feature transform feature extraction algorithm for light detection and ranging is studied. Then, the errors of light detection and ranging measurement due to the change of the scan plane compensated based on aiding information from inertial measurement unit. The relative position parameters and the differences of measurements of light detection and ranging at adjacent times are used to estimate the error of inertial measurement unit sensors by a Kalman filter. Several experiments are carried out in the indoor corridor and the results demonstrate that precision of the light detection and ranging/inertial measurement unit-integrated indoor mobile robot localization is higher than that of single light detection and ranging sensor.

中文翻译：

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室内移动机器人的光检测测距/惯性测量单元-集成导航定位

针对室内移动导航定位精度低、累积误差大的问题，提出了一种基于光探测与测距、惯性测量单元的测量相结合的方法。首先，研究了用于光检测和测距的体素尺度不变特征变换特征提取算法。然后，基于惯性测量单元的辅助信息补偿扫描平面变化引起的光探测和测距测量误差。卡尔曼滤波器利用相对位置参数和相邻时间光探测和测距测量的差异来估计惯性测量单元传感器的误差。