Sensor fusion for localization, mapping and navigation in an indoor environment

This paper describes localization and navigation in an indoor environment with transparent objects. Although LIDAR proved to be a popular choice, its inability to detect glass surface requires another sensor to ensure navigation capability will work in all kind of environment. In this paper, sonar sensor is used in complement to laser due to its capability to detect hard surfaces and low cost. The experiment shows that a better map can be achieved when these two sensors are used.