Research Project

FENILO: Framework for 2D Estimation and Navigation using IMU, Lidar and Odometry


UPC Project

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Project Description

This is a project within the Call for IRI MdM Internal Projects 2020 a call of R&D projects addressed to IRI early career researchers, under the María de Maeztu Unit of Excellence Programme.

FENILO intends to develop a mapping, localization and navigation solution for wheeled robots, in urban or building environments. The project will be implemented on top of the WOLF framework and will use LIDAR, IMU and encoder-based odometry measurements. Special attention will be placed in developing robust, versatile, accurate, and efficient solutions to the problem. Robustness will be addressed through the fusion of multi-sensory data with fail tolerance. Online sensor calibration will also provide robustness as well as accuracy. Integration with ROS and its navigation stack, and with WOLF will provide versatility and “plug and play” capabilities.