Localization and mapping performance of two LiDAR systems in unstructured environments
Localization and mapping performance of two LiDAR systems in unstructured environments
复制标题
非结构化环境中两个激光雷达系统的定位和测绘性能
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
D. Robinette
中科院分区：
文献类型：
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作者：
Sam Kysar;Derek J. Chopp;Akhil M Kurup;Joseph Rice;J. Bos;D. Robinette
为了让自主系统和车辆能够在其环境中进行遍历和路径规划，需要知道位置。要确定位置，需要两个项目，一张地图和一种定位方法。本文的目的是确定两个低成本现成的光探测和测距(LiDAR)单元在非结构化环境中用于测绘和本地化的差异和优势。LiDAR单元以360度全景水平视图的角度对环境进行采样，每个单元具有不同的采样密度。第一种具有更多的垂直采样和更宽的垂直视场，而另一种具有更少的垂直采样和更小的垂直视场，但角度分辨率更高。此外，这两个激光雷达单位每秒产生类似数量级的点数。将这两个LiDAR单元与试验车和LiDAR单元的仿真模型以及真实世界的测试进行了比较。实验结果表明，使用较高垂直分辨率的LiDAR单位进行贴图似乎会产生更好的贴图，而使用较高角度分辨率的LiDAR单位进行定位会产生总体上更一致的结果，但运行速度会相当慢。
For autonomous systems and vehicles to be able to traverse and path plan in their environment, location needs to be known. To determine location, two items are required, a map and a localization method. The purpose of this paper is to determine the differences and benefits between two low cost off the shelf Light Detection And Ranging (LiDAR) units in an unstructured environment for mapping and localization. The LiDAR units angularly sample the environment in a full 360-degree horizontal view, each with a varying sample density. The first has more vertical samples and a broader vertical field of view, where the other has fewer vertical samples and smaller vertical field of view but higher angular resolution. Also, both LiDAR units produce similar orders of magnitude of points per second. The two LiDAR units are compared with a simulation model of the test vehicle and LiDAR units as well as real world testing. The results of the experiments show that that mapping with a higher vertical resolution LiDAR unit appears to produce a better map, whereas localization with the higher angular resolution LiDAR unit produces more consistent results overall but runs considerably slower.