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

[31] Camera and Lidar Cooperation for 3D Feature Extraction
Gabriel, Burtin
Patrick, Bonnin
Florent, Malartre
ICINCO: PROCEEDINGS OF THE 16TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2, 2019, : 23 - 33
[32] Monocular camera and 3D lidar joint calibration
Zheng Xin
Wu Xiaojun
TheJournalofChinaUniversitiesofPostsandTelecommunications, 2020, 27 (04) : 91 - 98
[33] 3D localization and mapping of outdoor mobile robots using a LIDAR
Han, Mingrui
Zhou, Bo
Qian, Kun
Fang, Fang
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition), 2015, 43 : 315 - 318
[34] 3D LiDAR and Color Camera Data Fusion
Ding, Yuqi
Liu, Jiaming
Ye, Jinwei
Xiang, Weidong
Wu, Hsiao-Chun
Busch, Costas
2020 IEEE INTERNATIONAL SYMPOSIUM ON BROADBAND MULTIMEDIA SYSTEMS AND BROADCASTING (BMSB), 2020,
[35] Automatic extrinsic calibration between a camera and a 3D Lidar using 3D point and plane correspondences
Verma, Surabhi
Berrio, Julie Stephany
Worrall, Stewart
Nebot, Eduardo
2019 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC), 2019, : 3906 - 3912
[36] Monocular camera and 3d lidar joint calibration
Xin Z.
Xiaojun W.
Journal of China Universities of Posts and Telecommunications, 2020, 27 (04): : 91 - 98
[37] 3D Face Recognition Using Spherical Vector Norms Map
Wang, Xue-Qiao
Yuan, Jia-Zheng
Li, Qing
JOURNAL OF INFORMATION SCIENCE AND ENGINEERING, 2017, 33 (05) : 1141 - 1161
[38] 3D LIDAR-Camera Extrinsic Calibration Using an Arbitrary Trihedron
Gong, Xiaojin
Lin, Ying
Liu, Jilin
SENSORS, 2013, 13 (02) : 1902 - 1918
[39] 3D Shape Reconstruction in Traffic Scenarios Using Monocular Camera and Lidar
Rao, Qing
Krueger, Lars
Dietmayer, Klaus
COMPUTER VISION - ACCV 2016 WORKSHOPS, PT II, 2017, 10117 : 3 - 18
[40] 3D Gaze Point Localization and Visualization Using LiDAR-based 3D Reconstructions
Pieszala, James
Diaz, Gabriel
Pelz, Jeff
Speir, Jacqueline
Bailey, Reynold
2016 ACM SYMPOSIUM ON EYE TRACKING RESEARCH & APPLICATIONS (ETRA 2016), 2016, : 201 - 204

← 1 2 3 4 5 →