Road vehicle localization with 2D push-broom LIDAR and 3D priors
Road vehicle localization with 2D push-broom LIDAR and 3D priors
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DOI：
10.1109/icra.2012.6224996
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发表时间：
2012-05
期刊：
影响因子：
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通讯作者：
Ian A. Baldwin;P. Newman
中科院分区：
文献类型：
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作者：
Ian A. Baldwin;P. Newman
在本文中，我们描述并演示了一种使用单个推扫式 2D 激光扫描仪同时利用先前的 3D 测量来精确定位道路车辆的方法。与传统的扫描匹配相比，我们的激光向下定向，从而导致持续的地面打击。我们的方法利用这一点来生成一小段 3D 激光数据，这些数据可以在 3D 测量中进行统计匹配。该条带的生成基于车辆速度的随时间变化的估计。虽然理论上这些数据可以从车速表获得，但实际上这些仪器是有偏差的，因此我们还提供了一种根据调查数据估计这种偏差的方法。我们证明，我们的低成本系统在测试场地周围 26 公里的行驶路径上始终优于高品质集成 DGPS/IMU 系统。
In this paper we describe and demonstrate a method for precisely localizing a road vehicle using a single push-broom 2D laser scanner while leveraging a prior 3D survey. In contrast to conventional scan matching, our laser is oriented downwards, thus causing continual ground strike. Our method exploits this to produce a small 3D swathe of laser data which can be matched statistically within the 3D survey. This swathe generation is predicated upon time varying estimates of vehicle velocity. While in theory this data could be obtained from vehicle speedometers, in reality these instruments are biased and so we also provide a way to estimate this bias from survey data. We show that our low cost system consistently outperforms a high caliber integrated DGPS/IMU system over 26 km of driven path around a test site.