6-DOF Localization in 3D Feature Points Maps for LiDARs of Small FoV

被引：0

作者：

Li, Shenliang ^{[1
]}

Qu, Pengfei ^{[1
]}

Zhng, Jinyang ^{[1
]}

Duan, Zhansheng ^{[1
]}

Mei, Kuizhi ^{[1
]}

机构：

[1] Xi An Jiao Tong Univ, Dept Elect & Informat Engn, Xian, Peoples R China

来源：

2021 5TH INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION SCIENCES (ICRAS 2021) | 2021年

基金：

中国国家自然科学基金; 国家重点研发计划;

关键词：

LiDAR; mapping; relocalization;

D O I：

10.1109/ICRAS52289.2021.9476626

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

LOAM (lidar odometry and mapping) plays an important role in the field of mobile robot and relocalization based on prior maps is essential for LiDAR-based navigation. In this paper, we propose a system of LOAM and real-time relocalization only based on a low cost Lidar with small FoV (field of view). By taking effort on the matching method, the problem of drift at the sharp turn is settled and the robustness in map-building is improved. To accelerate the matching process in relocalization, our relocalization algorithm is based on the feature points map, not the full map. Finally we demonstrate our system to be accurate and robust by experiments in our school.

引用

页码：250 / 254

页数：5

共 50 条

[41] Stereo Camera Localization in 3D LiDAR Maps
Kim, Youngji
Jeong, Jinyong
Kim, Ayoung
[J]. 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2018, : 5826 - 5833
[42] GLOBAL LOCALIZATION IN 3D MAPS FOR STRUCTURED ENVIRONMENT
Ma, Yanxin
Guo, Yulan
Lu, Min
Zhao, Jian
Zhang, Jun
[J]. 2016 IEEE INTERNATIONAL GEOSCIENCE AND REMOTE SENSING SYMPOSIUM (IGARSS), 2016, : 6680 - 6683
[43] 3D Points Localization Using Defocused Images
Wang, Dongzhen
Huang, Daqing
[J]. 2019 IEEE 20TH INTERNATIONAL CONFERENCE ON INFORMATION REUSE AND INTEGRATION FOR DATA SCIENCE (IRI 2019), 2019, : 261 - 266
[44] Using GNG to improve 3D feature extraction-Application to 6DoF egomotion
Viejo, Diego
Garcia, Jose
Cazorla, Miguel
Gil, David
Johnsson, Magnus
[J]. NEURAL NETWORKS, 2012, 32 : 138 - 146
[45] LILOC: Enabling Precise 3D Localization in Dynamic Indoor Environments using LiDARs
Rathnayake, Darshana
Radhakrishnan, Meera
Hwang, Inseok
Misra, Archan
[J]. PROCEEDINGS 8TH ACM/IEEE CONFERENCE ON INTERNET OF THINGS DESIGN AND IMPLEMENTATION, IOTDI 2023, 2023, : 158 - 171
[46] Characterization of Multiple 3D LiDARs for Localization and Mapping Performance using the NDT Algorithm
Carballo, Alexander
Monrroy, Abraham
Wong, David
Narksri, Patiphon
Lambert, Jacob
Kitsukawa, Yuki
Takeuchi, Eijiro
Kato, Shinpei
Takeda, Kazuya
[J]. 2021 IEEE INTELLIGENT VEHICLES SYMPOSIUM WORKSHOPS (IV WORKSHOPS), 2021, : 327 - 334
[47] SETTLE code-a 2D code for 6-dof localization and its implementation on Android smartphone
Kobayashi, Hiroyuki
[J]. 2017 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2017, : 1472 - 1477
[48] Feature localization error in 3D computer vision
Morris, DD
Kanade, T
[J]. UNCERTAINTY IN GEOMETRIC COMPUTATIONS, 2002, 704 : 107 - 117
[49] High-precision 6-DOF motion tracking architecture with compact low-cost sensors for 3D manipulation
Lee, Hyong-Euk
Kim, Sanghyun
Choi, Changkyu
Bang, Won-Chul
Kim, James D. K.
Kim, Changyeong
[J]. 2012 IEEE INTERNATIONAL CONFERENCE ON CONSUMER ELECTRONICS (ICCE), 2012, : 193 - 194
[50] LAPS-II: 6-DoF Day and Night Visual Localisation with Prior 3D Structure for Autonomous Road Vehicles
Maddern, Will
Stewart, Alexander D.
Newman, Paul
[J]. 2014 IEEE INTELLIGENT VEHICLES SYMPOSIUM PROCEEDINGS, 2014, : 330 - 337

← 1 2 3 4 5 →