Pith. sign in

REVIEW 1 cited by

Precise Robot Localization in Architectural 3D Plans

Not yet reviewed by Pith; the record is open.

Re-run · record.json Download PDF Read on arXiv ↗

This paper has not been read by Pith yet. Machine review is queued; the pith claim, tier, and objections will appear here once it completes.

SPECIMEN: schema-true, not a live event

T0 review · schema-true

One-sentence machine reading of the paper's core claim.

pith:XXXXXXXX · record.json · timestamp

arxiv 2006.05137 v1 pith:2H5TJQC5 submitted 2020-06-09 cs.RO

Hermann Blum , Julian Stiefel , Cesar Cadena , Roland Siegwart , Abel Gawel This is my paper
classification cs.RO
keywords localizationapproachbuildingdatamobileoutlierpreciserobot
verification ladder T0 review T1 audit T2 compute T3 formal
0 comments
read the original abstract

This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for locally accurate registration. We further fuse a novel image-based robust outlier detector with LiDAR data to reject a wide range of outlier measurements from clutter, dynamic objects, and sensor failures. We evaluate the proposed approach on a mobile robot in a challenging real world building construction site. It consistently outperforms the traditional ICP-based alingment, reducing localization error by at least 30%.

Discussion (0). Sign in to comment.

Forward citations

Cited by 1 Pith paper

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score. Full citation record

  1. BIM Informed Visual SLAM for Construction Environments

    cs.RO 2025-09 conditional novelty 5.0 of 10

    Adding BIM wall correspondences as fixed-node constraints in a visual SLAM back-end reduces average ATE by 23.71% and map RMSE by 7.14% on the authors' collected construction and office sequences.

Pith tools