3D PCD map creation for LiDAR localization using a spherical camera

被引：0

作者：

Isozumi, Yusuke ^{[1
]}

Ito, Satoshi ^{[2
,3
]}

Morita, Ryosuke ^{[2
,3
]}

Funabora, Yuki ^{[4
]}

机构：

[1] Gifu Univ, Tokai Natl Higher Educ & Res Syst, Grad Sch Nat Sci & Technol, Gifu, Japan

[2] Gifu Univ, Tokai Natl Higher Educ & Res Syst, Fac Mech Engn, Gifu, Japan

[3] Tokai Natl Higher Educ & Res Syst, Intelligent Prod Technol Res & Dev Ctr Aerosp IPT, Nagoya, Aichi, Japan

[4] Nagoya Univ, Tokai Natl Higher Educ & Res Syst, Grad Sch Engn, Nagoya, Aichi, Japan

来源：

2021 60TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) | 2021年

关键词：

Autonomous Mobile Robot (AMR); localization; Light Detection; and Ranging (LiDAR); Point Cloud Data Map (PCD Map); spherical camera; map creation;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a method for creating a 3D PCD map using the spherical camera to utilize it for the LiDAR self-localization of the AMR. Usually, the LiDAR on the AMR is utilized for the map creation, but it requires some process with moving the big AMR itself. This paper attempts to simplify this process by replacing the scanning device with a small spherical camera. Finally, a map creating method is established using OpenVSLAM, and automated driving is demonstrated based on the map obtained from this method.

引用

页码：405 / 410

页数：6

共 9 条

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