What is the benefit of using LIDAR and Encoders vs Indoor Beacons

asked 2018-02-22 02:36:41 -0600

damandachamp gravatar image

Im trying to figure out why there is so much documentation on using LIDAR and Odometry data for indoor localization, but not much on using Indoor Bluetooth beacons for robotic localization .

A lot of people seem to use either LIDAR + Encoder or Beacons only (bluetooth beacon triangulation). Im confused as to why there are no mentions of usage for indoor localization solutions using both LIDAR + Encoder, and Bluetooth beacons.

Im wondering too, how would a 1 plane LIDAR (such as RPLidar) be able to determine a robot's location in a large environment (50 x 50 meter room), especially within similar hallways which give similar laser scan readings?

It seems that all of my research on indoor localization points to LIDAR + Odometry, but there are hardly any mentions for indoor navigation, and localization by using bluetooth or radio beacon triangulation. Why is that, and what are the advantages and disadvantages of each system?

If I were to incorporate beacons into my indoor localization system, what would be the approprate route given that I have LIDAR, and Odometry data for AMCL (where would the blue tooth beacon system fit into the equation?)

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Comments

This is a rather broad question, and as such I'm not sure you'll receive any satisfying answer. It also doesn't seem about ROS specifically, as the question is about localisation techniques in general.

gvdhoorn gravatar imagegvdhoorn ( 2018-02-23 04:17:42 -0600 )edit

incorporate beacons into [..] localization, [..] what would be the approprate route given that I have LIDAR, and Odometry data for AMCL

You could probably use robot_localization to fuse all estimates into a single global one.

gvdhoorn gravatar imagegvdhoorn ( 2018-02-23 04:19:13 -0600 )edit