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一个基于摄像头和激光雷达的融合定位系统,用于道建设中的无人滚筒
Hao Huang1, Yongbiao Hu1, Xuebin Wang1
1National Engineering Laboratory for Highway Maintenance Equipment, Chang'an University, Xi'an 710064, China.
Sensors (Basel, Switzerland)
|July 13, 2024
概括
这项研究引入了无人公路滚筒的摄像头-LiDAR融合系统,提高了自主压缩的准确性. 该系统增强了定位,特别是在灯光差或GPS信号丢失的道中.
科学领域:
- 机器人技术和自主系统
- 地理空间定位技术技术
- 土木工程 土木工程是指土木工程.
背景情况:
- 无人公路滚筒对于道路建设中的自主压缩至关重要.
- 挑战包括全球导航卫星系统 (GNSS) 在道中的定位故障以及在不同的照明条件下视觉精度降低.
- 准确的定位对于高效和高质量的道路建设至关重要.
研究的目的:
- 开发一个强大的功能层融合定位系统,用于无人驾驶滚筒.
- 为解决GNSS被拒绝的环境和道建设中的照明变化问题.
- 提高自主压缩操作的准确性和可靠性.
主要方法:
- 提出了一个功能层融合定位系统,集成相机和LiDAR数据.
- 集成的循环闭合检测和LiDAR测距器在视觉测距框架中.
- 开发了一种基于类似道场景中的滚筒紧缩过程来选择循环关闭候选框架的新方法.
主要成果:
- 与视觉系统相比,融合系统显示出更好的静态定位精度,纵向和横向误差分别减少了12毫米和11毫米.
- 该系统在变车道压缩测试期间,在阴暗的环境中显著提高了33%的定位准确性.
- 现场实验证实,在类似的道环境中,循环关闭检测准确度提高,运行时间缩短.
结论:
- 拟议的摄像头-LiDAR融合系统为无人公路滚筒提供了卓越的定位准确性和可靠性,特别是在具有挑战性的道环境中.
- 基于压缩过程的循环关闭检测的创新集成有效地处理重复的场景和不同的照明.
- 这一进步有助于在道路建设中实现更精确,更高效的自主压缩.
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