A single-shot pose estimation approach for a 2D laser rangefinder
A single-shot pose estimation approach for a 2D laser rangefinder
复制标题
二维激光测距仪的单次姿态估计方法
DOI：
10.1088/1361-6501/ab455a
复制
发表时间：
2020
影响因子：
2.4
通讯作者：
Zhou Junjie
中科院分区：
文献类型：
--
作者：
李祎承;胡钊政;Li Zhixiong;Cai Yingfeng;Sun Shuaishuai;Zhou Junjie
二维（2D）激光测距仪（LRF）广泛应用于各种移动系统，例如机器人、智能车辆（IV）和移动测绘。 2D LRF 的位姿估计对于多个传感器的外部校准、注册来自多个 LRF 或旋转/点头 LRF 的光检测和测距 (LIDAR) 数据等具有重要的应用。本文表明，2D LRF 的位姿可以通过三角三面体的单次发射来唯一确定。通过解决简化的透视三点（P3P）问题和三点配准问题来估计姿态。与原始噪声 LIDAR 数据相比，P3P 问题中的三个控制点是通过感测 LIDAR 数据的线拟合来估计的，以保证良好且可靠的估计结果。所提出的方法已通过仿真和实际数据得到验证。结果表明该方法准确、实用。据我们所知，本文首次使用一次扫描的 LIDAR 数据解决了 2D LRF 的位姿估计问题。
Two-dimensional (2D) laser rangefinders (LRFs) are widely utilized in various mobilized systems, such as robots, intelligent vehicles (IVs) and mobile mapping. Pose estimation for a 2D LRF has important applications for exterior calibration of multiple sensors, registering light detection and ranging (LIDAR) data from multiple LRFs or from a spinning/nodding LRF, etc. This paper shows that the pose of a 2D LRF can be uniquely determined from a single-shot of a trirectangular trihedron. The pose is estimated by solving a simplified perspective-three-point (P3P) problem and a three-point-registration problem. Compared to the raw noisy LIDAR data, the three control points in the P3P problem are estimated from line fitting of the sensed LIDAR data to guarantee good and reliable estimation results. The proposed method has been validated with both simulation and real data. The results show that the method is accurate and practical. To the best of our knowledge, this paper solves the pose estimation of a 2D LRF by using LIDAR data from one scan for the first time.