Performance Analysis of 3D NDT Scan Matching for Autonomous Vehicles Using INS/GNSS/3D LiDAR-SLAM Integration Scheme
Performance Analysis of 3D NDT Scan Matching for Autonomous Vehicles Using INS/GNSS/3D LiDAR-SLAM Integration Scheme
复制标题
使用 INS/GNSS/3D LiDAR-SLAM 集成方案的自动驾驶车辆 3D NDT 扫描匹配性能分析
DOI：
10.1109/inertial51137.2021.9430476
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
K. Chiang
中科院分区：
文献类型：
--
作者：
S. Srinara;Chi;S. Tsai;G. Tsai;K. Chiang
因为定位的鲁棒性和准确性对于自动驾驶应用至关重要。使用惯性导航系统（INS）和全球导航卫星系统（GNSS）的传统集成方案，姿态估计误差会随时间漂移和累积，特别是在GNSS挑战性环境和尚未构建现有地图的未知环境中。针对多传感器融合提高定位精度的问题，提出了一种基于激光雷达的三维正态分布变换（NDT）扫描匹配与INS/GNSS组合的定位方法。作为实验结果，我们提出的方法显示了统计上的改善，最先进的INS/GNSS集成方案。
Because robustness and accuracy of localization are crucial for autonomous driving applications. Using the conventional integration scheme of Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS), pose estimation error can drift and accumulate with time, especially in GNSS challenging environment and in unknown environment where an existing map has not been constructed. In this paper, in term of using multi-sensor fusion for improving the positioning accuracy, we proposed a localization method that is based on LiDAR-based 3D Normal Distribution Transform (NDT) scan matching with an INS/GNSS integration scheme. As the experimental results, our proposed method showed a statistical improvement over the state of the art INS/GNSS integration scheme.
影响因子：
8.3
作者：
Magnusson, Martin;Lilienthal, Achim;Duckett, Tom
通讯作者：
Duckett, Tom