改进的车辆定位与低成本的传感器融合,用于城市3D绘图
Sheraz Shamim1, Syed Riaz Un Nabi Jafri1
1Department of Electronic Engineering, NED University of Engineering and Technology, Karachi, Pakistan.
PloS one
|May 2, 2025
概括
本研究介绍了一种可负担的移动地图系统 (MMS) 用于城市测量,利用经济的传感器和先进的传感器融合用于准确的3D地图和特征提取. 开发的系统大大减少了绘制时间和成本,为预算意识的组织提供了可行的解决方案.
科学领域:
- 机器人技术和自主系统
- 地理学工程 工程地质学
- 计算机视觉 计算机视觉
背景情况:
- 城市测量需要准确和高效的绘图解决方案.
- 现有的移动地图系统 (MMS) 对某些应用来说可能非常昂贵.
- 整合各种传感器数据以进行强大的姿势估计仍然是一个挑战.
研究的目的:
- 设计和开发一个低成本的,本土的移动地图系统 (MMS) 用于城市测量.
- 通过使用多式传感器融合来提高姿势估计的准确性,特别是在全球定位系统 (GPS) 中断期间.
- 为了实现准确的3D点云映射和道路资产的提取.
主要方法:
- 在移动平台上使用经济的2D激光扫描仪,视觉传感器,GPS和测距传感器.
- 实施的同时定位和映射 (SLAM) 用于位估计.
- 开发了一个多式传感器融合框架,使用卡尔曼波器 (KF) 与惯性测量单元 (IMU) 和车轮测距来增强姿势校正.
- 采用Split和Merge细分和Hough转换来进行点云分类和特征提取.
主要成果:
- 实现了精确的3D点云映射和道路边缘和资产的提取.
- 与传统方法相比,大大减少了绘制开发时间的调查.
- 与地面真相和GIS数据相比,生成的地图的准确性被证明是高度可接受的.
- 开发的MMS被证明是对资金有限的实体来说一个负担得起的解决方案.
结论:
- 开发的低成本MMS是有效的城市测量应用程序.
- 多式传感器融合方法增强了姿势估计的稳定性.
- 该系统以降低成本提供准确的映射结果和特征提取功能.
- 这种本土的MMS为现有的全球变种提供了具有成本效益的替代方案.
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