NAVIS-An UGV indoor positioning system using laser scan matching for large-area real-time applications.
NAVIS-An UGV indoor positioning system using laser scan matching for large-area real-time applications.
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DOI：
10.3390/s140711805
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发表时间：
2014-07-04
期刊：
影响因子：
--
通讯作者：
Hyyppä H
中科院分区：
文献类型：
--
作者：
Tang J;Chen Y;Jaakkola A;Liu J;Hyyppä J;Hyyppä H
基于栅格地图的激光扫描匹配是移动的无人地面车辆（UGV）室内实时定位的一种很有前途的工具。虽然存在关键的实现问题，例如通过以足够的精度和足够低的延迟感测未知的室内环境来估计位置以实现稳定的车辆控制的能力，但还需要进一步的开发工作。遗憾的是，大多数现有的方法使用的快速定位，其中大量的累积误差容易导致定位精度的损失。这严重限制了其在大面积和长时间内的应用。本文介绍了一种高效的实时移动的UGV室内定位系统的大区域应用，使用激光扫描匹配与改进的概率激励的最大似然估计（IMLE）算法，这是基于多分辨率分块网格似然地图。与传统方法相比，IMLE的改进包括：（a）迭代闭点（ICP）预处理，自适应地缩小搜索范围：（B）多分辨率图层上的全粗搜索匹配方法，根据当前激光扫描与细化搜索范围内栅格地图之间的似然值，在每次扫描匹配时获得全局最优位置;以及（c）支持大的室内区域的分块似然图。一个名为NAVIS的UGV平台的设计，制造和测试的基础上，集成了激光雷达和里程计传感器的低成本机器人，以验证IMLE算法。通过仿真数据和NAVIS现场测试，证明了该算法是一种较好的局部扫描匹配方法，能够提供快速、稳定、高精度的定位解决方案，可以应用于大区域定位/测绘。NAVIS平台在功能丰富的环境中可以达到12 Hz的更新速率，即使在功能贫乏的环境中也可以达到2 Hz的更新速率。因此，它可以用于实时应用。
Laser scan matching with grid-based maps is a promising tool for real-time indoor positioning of mobile Unmanned Ground Vehicles (UGVs). While there are critical implementation problems, such as the ability to estimate the position by sensing the unknown indoor environment with sufficient accuracy and low enough latency for stable vehicle control, further development work is necessary. Unfortunately, most of the existing methods employ heuristics for quick positioning in which numerous accumulated errors easily lead to loss of positioning accuracy. This severely restricts its applications in large areas and over lengthy periods of time. This paper introduces an efficient real-time mobile UGV indoor positioning system for large-area applications using laser scan matching with an improved probabilistically-motivated Maximum Likelihood Estimation (IMLE) algorithm, which is based on a multi-resolution patch-divided grid likelihood map. Compared with traditional methods, the improvements embodied in IMLE include: (a) Iterative Closed Point (ICP) preprocessing, which adaptively decreases the search scope; (b) a totally brute search matching method on multi-resolution map layers, based on the likelihood value between current laser scan and the grid map within refined search scope, adopted to obtain the global optimum position at each scan matching; and (c) a patch-divided likelihood map supporting a large indoor area. A UGV platform called NAVIS was designed, manufactured, and tested based on a low-cost robot integrating a LiDAR and an odometer sensor to verify the IMLE algorithm. A series of experiments based on simulated data and field tests with NAVIS proved that the proposed IMEL algorithm is a better way to perform local scan matching that can offer a quick and stable positioning solution with high accuracy so it can be part of a large area localization/mapping, application. The NAVIS platform can reach an updating rate of 12 Hz in a feature-rich environment and 2 Hz even in a feature-poor environment, respectively. Therefore, it can be utilized in a real-time application.
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影响因子：
3.3
作者：
Caballero, F.;Merino, L.;Ollero, A.
通讯作者：
Ollero, A.
影响因子：
8.3
作者：
Bachrach, Abraham;Prentice, Samuel;Roy, Nicholas
通讯作者：
Roy, Nicholas
影响因子：
7.8
作者：
Pathak, Kaustubh;Birk, Andreas;Poppinga, Jann
通讯作者：
Poppinga, Jann
DOI：
10.3390/s121217208
发表时间：
2012-12-12
期刊：
Sensors (Basel, Switzerland)
影响因子：
--
作者：
Liu J;Chen R;Pei L;Guinness R;Kuusniemi H
通讯作者：
Kuusniemi H
影响因子：
3.5
作者：
Frese, U
通讯作者：
Frese, U