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Review
. 2022 May 15;14(10):2019.
doi: 10.3390/polym14102019.

Sensors and Sensor Fusion Methodologies for Indoor Odometry: A Review

Mengshen Yang  1   2   3 , Xu Sun  1   4 , Fuhua Jia  1 , Adam Rushworth  1 , Xin Dong  5 , Sheng Zhang  6 , Zaojun Fang  2   3 , Guilin Yang  2   3 , Bingjian Liu  1
Affiliations
Free PMC article
Review

Sensors and Sensor Fusion Methodologies for Indoor Odometry: A Review

Mengshen Yang et al. Polymers (Basel). .
Free PMC article

Abstract

Although Global Navigation Satellite Systems (GNSSs) generally provide adequate accuracy for outdoor localization, this is not the case for indoor environments, due to signal obstruction. Therefore, a self-contained localization scheme is beneficial under such circumstances. Modern sensors and algorithms endow moving robots with the capability to perceive their environment, and enable the deployment of novel localization schemes, such as odometry, or Simultaneous Localization and Mapping (SLAM). The former focuses on incremental localization, while the latter stores an interpretable map of the environment concurrently. In this context, this paper conducts a comprehensive review of sensor modalities, including Inertial Measurement Units (IMUs), Light Detection and Ranging (LiDAR), radio detection and ranging (radar), and cameras, as well as applications of polymers in these sensors, for indoor odometry. Furthermore, analysis and discussion of the algorithms and the fusion frameworks for pose estimation and odometry with these sensors are performed. Therefore, this paper straightens the pathway of indoor odometry from principle to application. Finally, some future prospects are discussed.

Keywords: IMU; LiDAR; SLAM; camera; odometry; polymeric sensor; radar; self-contained localization; sensor fusion; state estimation.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 2
Figure 2
(a) SU-8 3-axis piezoresistive accelerometer, reprinted with permission from [20]. Copyright IEEE 2019. (b) Polymeric Fano-resonator-based accelerometer, reprinted with permission from [21].Copyright The Optical Society2016. (c) Polymeric vibratory ring-type MEMS gyroscope, reprinted with permission from [27]. Copyright IEEE 2008. (d) Polymeric ring resonator for optical gyroscope, reprinted from [26], Hindawi, 2014.
Figure 1
Figure 1
Schematic of the working principle of an IMU, redrawn from [18].
Figure 3
Figure 3
(a) Polymeric thermo-optic phase modulator for OPA LiDAR, reprinted from [49], Optica Publishing Group, 2020; (b) P(VDF-TrFE) copolymer piezoelectric actuator for MEMS LiDAR, reprinted with permission from [51]. Copyright IEEE 2018.
Figure 4
Figure 4
(a) HDPE as a dielectric waveguide for distributed radar antennas, reprinted with permission from [108]. Copyright IEEE 2019. (b) PANI/MWCNT fabricated antenna on a Kapton substrate, demonstrating good flexibility; reprinted with permission from [109]. Copyright John Wiley and Sons 2018.
Figure 5
Figure 5
2D FFT of the beat frequency signal, redrawn from [115]. Copyright River Publishers 2017.
See this image and copyright information in PMC

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