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强大的激光雷达-惯性校准和映射的初始位置估计方法

Eun-Seok Park¹, Saba Arshad², Tae-Hyoung Park¹

¹Department of Intelligent Systems & Robotics, Chungbuk National University, Cheongju 28644, Republic of Korea.

Sensors (Basel, Switzerland)

|January 8, 2025

概括

这项研究引入了一种用于校准手持式LiDAR-IMU系统的新方法,提高了3D绘图的准确性. 这种方法提高了移动扫描应用的数据质量.

科学领域:

机器人和传感器融合技术
地理学工程工程地质学
计算机视觉计算机视觉

背景情况:

手持式LiDAR扫描仪提供灵活的3D数据捕获,但由于传感器的移动性而面临校准挑战.
对LiDAR-IMU系统的准确校准对于同时定位和映射 (SLAM) 中的精确映射至关重要.
现有的校准方法在噪音和效率方面存在问题,特别是在移动室内环境中.

研究的目的:

为室内环境中手持式LiDAR-IMU系统开发强大的初始姿势校准方法.
为了提高 LiDAR-IMU 校准对移动 3D 地图应用程序的准确性和效率.

主要方法:

提出了一种新的飞机检测算法来过来自移动LiDAR扫描的噪音.
引入了平面辅助校准方法,以估计LiDAR-IMU系统的初始姿势.
该方法侧重于精确对准外部传感器参数.

主要成果:

拟议的平面检测有效地消除扫描噪声,产生准确的平面来估计姿势.
平面辅助校准方法实现了强大而高效的LiDAR-IMU初始姿势估计.
实验结果显示,与现有技术相比,校准错误减少,计算效率提高.

结论:

开发的方法为手持式LiDAR-IMU系统的初始姿势校准提供了强大的解决方案.
这一进步有助于在建筑,土木工程和机器人领域实现更准确和更有效的3D绘图.
这种方法特别有利于室内绘图应用,其中传感器的移动性是关键因素.

关键词:

3D LiDAR 是一个3D LiDAR.在LIDAR-IMU校准过程中,这是一款手持式设备.构成估计估计的估计.

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