LAVER LABS

M2 is a mapping robot developed to efficiently create digital twin data of large-scale indoor spaces. Although many things have changed compared to the previous versions M1 or M1X, the symbolism of this robot remains the same for NAVER LABS.

History

NAVER LABS' digital twin devices are composed of the indoor mapping robot, M series, on-road MMS (mobile mapping system), R series, and the T series for complex terrain. The M series was the first to be developed among these three.

M1, the first model in the M series, is also NAVER's first robot. The fact that the first robot we built was a robot that produced high-precision maps for other robots has significant implications. This is because digital twin data still mark the starting point of various projects developed by NAVER LABS.

M1X, the next version of M1, has been creating digital twin worlds of many large-scale areas for a considerable period of time—including the Incheon International Airport, Hyundai Department Store, and COEX. Through this experience, we have greatly improved sensor composition and driving method for M2. M2 has the following features:

Adjustable Viewpoint

• Lift: the most distinctive design feature of M2 is that the data collection viewpoint can be adjusted. A lift design has been applied for this particular purpose. For example, we can collect low-viewpoint data when mapping for service robots, and high-viewpoint data when mapping for humans, such as for AR navigation. This approach has noticeably improved data accuracy and usability.

Enhanced Mobility

• Double Ackermann steering: We applied double Ackermann steering to M2, to strengthen driving performance and coverage. This resolved many of the limitations we discovered from the previously selected driving mechanisms (M1: mecanum wheel-based omni-directional driving / M1X: differential driving). We were also able to overcome limitations of the Ackermann steering method, which can face constraints in indoor environments due to its large turning radius. For outdoor driving, air-suspension and 4 wheel drive method were added to increase driving stability in various environments.

Improved Data Quality

• The sensor configuration of M2 is identical to M1X, but with markedly enhanced sensor performance and data quality. Because M2 collects data from both indoor and outdoor areas, it can collect high-quality VL data by enabling active PCD and VL data response according to the brightness of the environment. Compared to the existing M1X, signage & marker data, low & high position data, IMU (inertial measurement unit) & VIO (visual inertial odometry) data, RTK (real time kinematic) GPS data, etc. can be acquired additionally or in a more advanced format.

Expansion through Modularization

• Sensor modularization: we designed electronics that allow easy sensors application and developed our own controller to implement modularization. This enables us to be more flexible in responding to various situations such as technological development, system upgrades, discontinuation or addition of sensors, and is easier to stabilize and maintain.
• Expansion and sharing: each HW/SW module was developed separately through physical modularization of each HW feature and modularization of the overall system design. This made it possible to utilize M2 in various projects.

Detailed Characteristics Found in Operation Know-how

• Having the largest operating environment among all existing M series models, M2 required stability. The device is equipped with a soft bumper using ultrasonic sensors, performs obstacle detection through its front and rear cameras, and provides status notifications via messages and lights to ensure safety.
• Mapping robots need to have a rigid body structure that is not subject to change from external force, in order to enhance data quality. We designed the robot with increased sensor module and body rigidity, better locking structure, and movement shock absorption with suspension design.

Main System

• ARC system interconnection (powered by NAVER CLOUD PLATFORM): ARC is a multi-robot intelligence system developed by NAVER LABS. It consists of ARC brain which controls multi-robots and interconnection with building infrastructure, and ARC eye which provides digital twin data and localization algorithms. M2 is interconnected with ARC eye.
• We have minimized areas with unavailable or limited debugging in the system configuration.

Future Plan

M series is the mascot of NAVER's digital twin technology. In the future, we will replicate the physical space of various landmarks into the digital world. R series and T series will also take part here. Ultimately, NAVER LABS is creating is a digital twin-based convergence ecosystem named ARCVERSE. New and diverse services will begin here, from service robots to autonomous driving, smart buildings, and even smart cities.