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.
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页码：315 / 318
页数：3
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