传感器感知激光雷达里程计

2019 European Conference on Mobile Robots (ECMR) Pub Date : 2019-07-22 DOI:10.1109/ECMR.2019.8870929

D. Kovalenko, Mikhail Korobkin, Andrey Minin

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引用次数: 10

摘要

提出了一种将传感器物理特性知识集成到计算中的激光雷达测程方法。测量误差模型可以提高点正态协方差的估计精度。相邻激光束采用离群对应抑制方案。该方法以1.37%的定位误差在KITTI的排行榜中名列前茅。与内部数据集上的LOAM方法相比，达到3.67%。

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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Sensor Aware Lidar Odometry

A lidar odometry method, integrating into the computation the knowledge about the physics of the sensor, is proposed. A model of measurement error enables higher precision in estimation of the point normal covariance. Adjacent laser beams are used in an outlier correspondence rejection scheme. The method is ranked in the KITTI's leaderboard with 1.37% positioning error. 3.67% is achieved in comparison with the LOAM method on the internal dataset.

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来源期刊

2019 European Conference on Mobile Robots (ECMR)

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