Large-scale 3D outdoor mapping and on-line localization using 3D-2D matching
Large-scale 3D outdoor mapping and on-line localization using 3D-2D matching
复制标题
使用 3D-2D 匹配进行大规模 3D 室外测绘和在线定位
DOI：
10.1109/sii.2017.8279325
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Shuji Oishi
中科院分区：
文献类型：
--
作者：
Takahiro Sakai;Kenji Koide;J. Miura;Shuji Oishi
基于地图的户外导航是移动的机器人和自动驾驶领域的一个研究热点。通过准备环境或路边的精确地图，机器人或车辆可以基于地图与传感器输入序列之间的匹配来定位自身。本文介绍了一个校园范围内的地图和定位的移动的机器人与二维和三维激光雷达（激光成像检测和测距）。对于映射，我们使用具有2D LIDAR和旋转机制的3D数据采集系统，并获取点云序列。我们采用了基于NDT（正态分布变换）的自我运动估计方法来生成姿态图和优化闭环。对于定位，我们建议使用机器人上的2D激光雷达与3D地图匹配，以实现快速和低成本的定位。通过在我校校园内的实验，验证了该映射和定位方法的有效性。
Map-based outdoor navigation is an active research area in mobile robots and autonomous driving. By preparing a precise map of an environment or roadside, a robot or a vehicle can localize itself based on a matching between the map and a sequence of sensor inputs. This paper describes a campus-wide mapping and localization of a mobile robot with 2D and 3D LIDARs (Laser Imaging Detection and Ranging). For mapping, we use a 3D data acquisition system with a 2D LIDAR and a rotation mechanism and takes a sequence of point clouds. We adopt an NDT (Normal Distribution Transform)-based ego-motion estimation method for pose graph generation and optimization for loop closing. For localization, we propose to use a 2D LIDAR on a robot for being matched with a 3D map for a fast and low-cost localization. The mapping and the localization method are validated through the experiments in our campus.
影响因子：
8.3
作者：
Magnusson, Martin;Lilienthal, Achim;Duckett, Tom
通讯作者：
Duckett, Tom