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 50 条

[1] Towards a Meaningful 3D Map Using a 3D Lidar and a Camera
Jeong, Jongmin
Yoon, Tae Sung
Park, Jin Bae
SENSORS, 2018, 18 (08)
[2] Stereo Camera Localization in 3D LiDAR Maps
Kim, Youngji
Jeong, Jinyong
Kim, Ayoung
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2018, : 5826 - 5833
[3] Event Camera Localization in 3D LiDAR Maps
Cai, Ximeng
Yu, Huai
Wu, Ji
Wang, Mingfeng
Yu, Lei
Xia, Gui-Song
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2024, PT IX, 2025, 15209 : 246 - 258
[4] Monocular Camera Localization in 3D LiDAR Maps
Caselitz, Tim
Steder, Bastian
Ruhnke, Michael
Burgard, Wolfram
2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), 2016, : 1926 - 1931
[5] Spherical Camera Localization by Color Difference Minimization Using 3D Model of the Environment
Yang, Dongxu
Higuchi, Hiroshi
Pathak, Sarthak
Moro, Alessandro
Yamashita, Atsushi
Asama, Hajime
2020 21ST INTERNATIONAL CONFERENCE ON RESEARCH AND EDUCATION IN MECHATRONICS (REM), 2020,
[6] Vehicle Self-localization using 3D Building Map and Stereo Camera
Bao, Jiali
Gu, Yanlei
Hsu, Li-Ta
Kamijo, Shunsuke
2016 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 2016, : 927 - 932
[7] 3D Point Cloud Map Based Vehicle Localization Using Stereo Camera
Xu, Yuquan
John, Vijay
Mita, Seiichi
Tehrani, Hossein
Ishimaru, Kazuhisa
Nishino, Sakiko
2017 28TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV 2017), 2017, : 487 - 492
[8] Building and optimization of 3D semantic map based on Lidar and camera fusion
Li, Jing
Zhang, Xin
Li, Jiehao
Liu, Yanyu
Wang, Junzheng
NEUROCOMPUTING, 2020, 409 : 394 - 407
[9] Extended Line Map-Based Precise Vehicle Localization Using 3D LIDAR
Im, Jun-Hyuck
Im, Sung-Hyuck
Jee, Gyu-In
SENSORS, 2018, 18 (10)
[10] Point Cloud Map Generation and Localization for Autonomous Vehicles Using 3D Lidar Scans
Poulose, Alwin
Baek, Minjin
Han, Dong Seog
2022 27TH ASIA PACIFIC CONFERENCE ON COMMUNICATIONS (APCC 2022): CREATING INNOVATIVE COMMUNICATION TECHNOLOGIES FOR POST-PANDEMIC ERA, 2022, : 336 - 341

← 1 2 3 4 5 →