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Volume: 31 | Article ID: art00003
Multimodal Localization for Autonomous Agents
  DOI :  10.2352/ISSN.2470-1173.2019.7.IRIACV-451  Published OnlineJanuary 2019

Inventory management and handling in warehouse environments have transformed large retail fulfillment centers. Often hundreds of autonomous agents scurry about fetching and delivering products to fulfill customer orders. Repetitive movements such as these are ideal for a robotic platform to perform. One of the major hurdles for an autonomous system in a warehouse is accurate robot localization in a dynamic industrial environment. Previous LiDAR-based localization schemes such as adaptive Monte Carlo localization (AMCL) are effective in indoor environments and can be initialized in new environments with relative ease. However, AMCL can be influenced negatively by accumulated odometry drift, and is also reliant primarily on a single modality for scene understanding which limits the localization performance. We propose a robust localization system which combines multiple sensor sources and deep neural networks for accurate real-time localization in warehouses. Our system employs a novel deep neural network architecture consisting of multiple heterogeneous deep neural networks. The overall architecture employs a single multi-stream framework to aggregate the sensor information into a final robot location probability distribution. Ideally, the integration of multiple sensors will produce a robust system even when one sensor fails to produce reliable scene information.

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Robert Relyea, Darshan Bhanushali, Abhishek Vashist, Amlan Ganguly, Andres Kwasinski, Michael E Kuhl, Raymond Ptucha, "Multimodal Localization for Autonomous Agentsin Proc. IS&T Int’l. Symp. on Electronic Imaging: Intelligent Robotics and Industrial Applications using Computer Vision,  2019,  pp 451-1 - 451-8,

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