3D localization and mapping of outdoor mobile robots using a LIDAR

被引：0

作者：

Han, Mingrui ^{[1
]}

Zhou, Bo ^{[1
]}

Qian, Kun ^{[1
]}

Fang, Fang ^{[1
]}

机构：

[1] School of Automation, Key Laboratory of Measurement and Control of CSE, Southeast University, Nanjing

来源：

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2015年 / 43卷

关键词：

Localization; Mapping; Mobile robot; Normal distribution transform; Scan matching;

D O I：

10.13245/j.hust.15S1075

中图分类号：

学科分类号：

摘要：

The assisted localization and mapping of a mobile robot in outdoor terrain environment using 3D (three dimensional) LIDAR (light detection and ranging) scanning data were studied. The 3D Inertial Measurement Unit (IMU) odometer data was output at a high frequency but low fidelity to give a raw pose prediction of the robot. Then, the normal distribution transform (NDT) based alignment algorithm running at a lower frequency was used to calibrate the pre-estimated pose, so that to produce a fine pose estimation, which can be used to create a dense and accurate point cloud map of the surrounding environments. Experimental results of a tracked mobile robot equipped with a 3D LIDAR scanning device in a large-scale outdoor campus environment indicate the feasibility and effectiveness of the proposed method. ©, 2015, Huazhong University of Science and Technology. All right reserved.

引用

页码：315 / 318

页数：3

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