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arXiv · 2505.08388

MDF: Multi-Modal Data Fusion with CNN-Based Object Detection for Enhanced Indoor Localization Using LiDAR-SLAM

Saqi Hussain Kalan·Boon Giin Lee·Wan-Young Chung
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Abstract

Indoor localization faces persistent challenges in achieving high accuracy, particularly in GPS-deprived environments. This study unveils a cutting-edge handheld indoor localization system that integrates 2D LiDAR and IMU sensors, delivering enhanced high-velocity precision mapping, computational efficiency, and real-time adaptability. Unlike 3D LiDAR systems, it excels with rapid processing, low-cost scalability, and robust performance, setting new standards for emergency response, autonomous navigation, and industrial automation. Enhanced with a CNN-driven object detection framework and optimized through Cartographer SLAM (simultaneous localization and mapping ) in ROS, the system significantly reduces Absolute Trajectory Error (ATE) by 21.03%, achieving exceptional precision compared to state-of-the-art approaches like SC-ALOAM, with a mean x-position error of -0.884 meters (1.976 meters). The integration of CNN-based object detection ensures robustness in mapping and localization, even in cluttered or dynamic environments, outperforming existing methods by 26.09%. These advancements establish the system as a reliable, scalable solution for high-precision localization in challenging indoor scenarios

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Saqi Hussain Kalan, Boon Giin Lee, Wan-Young Chung. 2025-05-13. MDF: Multi-Modal Data Fusion with CNN-Based Object Detection for Enhanced Indoor Localization Using LiDAR-SLAM. https://arxiv.org/abs/2505.08388

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