NR5G-SAM: A SLAM Framework for Field Robot Applications Based on 5G New Radio.

ABSTRACT: Robot localization is a crucial task in robotic systems and is a pre-requisite for navigation. In outdoor environments, Global Navigation Satellite Systems (GNSS) have aided towards this direction, alongside laser and visual sensing. Despite their application in the field, GNSS suffers from limited availability in dense urban and rural environments. Light Detection and Ranging (LiDAR), inertial and visual methods are also prone to drift and can be susceptible to outliers due to environmental changes and illumination conditions. In this work, we propose a cellular Simultaneous Localization and Mapping (SLAM) framework based on 5G New Radio (NR) signals and inertial measurements for mobile robot localization with several gNodeB stations. The method outputs the pose of the robot along with a

SUBMITTER: Karfakis PT 

PROVIDER: S-EPMC10256012 | biostudies-literature | 2023 Jun

REPOSITORIES: biostudies-literature