360度视场扫描激光雷达与非重复扫描激光雷达:漫游者导航实验

2023 IEEE 10th International Workshop on Metrology for AeroSpace (MetroAeroSpace) Pub Date : 2023-06-19 DOI:10.1109/MetroAeroSpace57412.2023.10189983

Filippo Volpin, S. Chiodini, Simone Fortuna, A. Valmorbida, M. Pertile

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引用次数: 1

摘要

本文介绍了两种用于漫游车导航的激光雷达传感器的实验比较:360度视场扫描激光雷达，Ouster OS1-32，和非重复扫描激光雷达，Livox地平线。该研究旨在确定这两种传感器在精度和可靠性方面的性能差异，这是在复杂环境中漫游车导航的关键因素。对激光雷达采集的数据进行处理:利用激光雷达slam算法FAST-LIO重构轨迹，利用VoxBlox库创建障碍物图。实验在不同的场景下进行，包括有障碍物的地形和不平整的表面，并从轨迹误差的角度对实验结果进行了分析。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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360-deg FOV Scanning LiDAR versus Non-Repetitive Scanning LiDAR: A Rover Navigation Experiment

This paper presents an experimental comparison of two types of LiDAR sensors for the navigation of rovers: a 360-deg FOV Scanning LiDAR, the Ouster OS1-32, and a non-repetitive scanning LiDAR, the Livox Horizon. The study aims to determine the performance differences between these two sensors in terms of accuracy, and reliability, which are crucial factors for rover navigation in complex environments. The data collected by the LiDAR were processed as follows: the trajectory was reconstructed using the LiDAR-SLAM algorithm FAST-LIO and the obstacle map was created using the VoxBlox library. The experiments were conducted in various scenarios, including terrain with obstacles and uneven surfaces, and the results were analyzed in terms of trajectory error.

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2023 IEEE 10th International Workshop on Metrology for AeroSpace (MetroAeroSpace)

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