Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach
| Autor: | Mariano Jaimez, Javier Gonzalez-Jimenez, Javier Monroy |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0301 basic medicine
0209 industrial biotechnology Laser scanning Computer science business.industry Odometry 030106 microbiology Laser Scanner Robotics Mobile robot 02 engineering and technology Filter (signal processing) Covariance 03 medical and health sciences 020901 industrial engineering & automation Point (geometry) Computer vision Artificial intelligence Visual odometry business Robótica |
| Zdroj: | RIUMA. Repositorio Institucional de la Universidad de Málaga instname ICRA |
| Popis: | In this paper we present a fast and precise method to estimate the planar motion of a lidar from consecutive range scans. For every scanned point we formulate the range flow constraint equation in terms of the sensor velocity, and minimize a robust function of the resulting geometric constraints to obtain the motion estimate. Conversely to traditional approaches, this method does not search for correspondences but performs dense scan alignment based on the scan gradients, in the fashion of dense 3D visual odometry. The minimization problem is solved in a coarse-to-fine scheme to cope with large displacements, and a smooth filter based on the covariance of the estimate is employed to handle uncertainty in unconstraint scenarios (e.g. corridors). Simulated and real experiments have been performed to compare our approach with two prominent scan matchers and with wheel odometry. Quantitative and qualitative results demonstrate the superior performance of our approach which, along with its very low computational cost (0.9 milliseconds on a single CPU core), makes it suitable for those robotic applications that require planar odometry. For this purpose, we also provide the code so that the robotics community can benefit from it. Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Spanish Government under project DPI2014-55826-R and the grant program FPI-MICINN 2012. |
| Databáze: | OpenAIRE |
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