Extraction of preview elevation of road based on 3D sensor
| Autor: | Miaomiao Du, Yilei Li, Dingxuan Zhao, Lili Wang |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry Applied Mathematics Elevation 020206 networking & telecommunications 02 engineering and technology Kalman filter Condensed Matter Physics Sensor fusion 020901 industrial engineering & automation Position (vector) Inertial measurement unit 0202 electrical engineering electronic engineering information engineering Global Positioning System Computer vision Extraction (military) Artificial intelligence Electrical and Electronic Engineering Spline interpolation business Instrumentation |
| Zdroj: | Measurement. 127:104-114 |
| ISSN: | 0263-2241 |
| Popis: | With preview road elevation information, we could prepare the vehicle for preview road inputs and allow the vehicle body to remain as smooth as possible to improve ride comfort. But few people gave a detailed description of it. In this paper, we proposed an approach using 3D sensor, IMU and GPS to get accurate preview three dimensional points cloud data of the road, attitude angle and position information for extracting the elevation information of road in advance. GPS/INS loosely-coupled integrated navigation and Kalman Filter were used to get accurate attitude angle and position information, which could ensure the precision of data fusion. Then the points cloud data was processed by VoxelGrid filtering algorithm and PassThrough filtering algorithm to get the useful data, which could reduce the calculation burden. In the end, these road elevation information was interpolated and fitted by cubic spline interpolation, which is a computationally fast and accurate method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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