UWB/Lidar Coordinate Matching Method With Anti-Degeneration Capability

This article presents a ultra-wideband (UWB)/Lidar coordinate matching method to calculate the transformation relationship between the UWB global coordinate system and the Lidar global coordinate system in real-time without any prior information of the sensor locations. In the proposed method, point pairs sampled from the trajectories estimated by the UWB Simultaneous Localization and Mapping (SLAM) and the Lidar SLAM are used to calculate the transformation relationship between the two coordinate systems through a trajectory matching process. Additionally, an anti-degeneration algorithm which can estimate the degenerate directions of the UWB SLAM and mitigate the effects of the degeneration to improve the accuracy of the proposed method is also provided. In order to evaluate the performance of the proposed method, two experiments were carried out. The results of experiments show that the proposed anti-degeneration algorithm can improve the estimation accuracy of the UWB/Lidar coordinate matching method with the average errors being about 0.1m in well-conditioned directions and 0.5m in degenerate directions.