دورية أكاديمية
أعرض في EDS

AN EVALUATION OF SOLID-STATE LIDAR FOR LOCALIZATION AND HD POINT CLOUD MAPPING

التفاصيل البيبلوغرافية
العنوان: AN EVALUATION OF SOLID-STATE LIDAR FOR LOCALIZATION AND HD POINT CLOUD MAPPING
المؤلفون: Y.-E. Lu, K.-W. Chiang, M.-L. Tsai, Y.-T. Chiu, S. Srinara, T.-C. Wu, N. El-Sheimy
المصدر: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XLVIII-1-W2-2023, Pp 841-847 (2023)
بيانات النشر: Copernicus Publications, 2023.
سنة النشر: 2023
المجموعة: LCC:Technology
LCC:Engineering (General). Civil engineering (General)
LCC:Applied optics. Photonics
مصطلحات موضوعية: Technology, Engineering (General). Civil engineering (General), TA1-2040, Applied optics. Photonics, TA1501-1820
الوصف: Cost-effective navigation and positioning systems for autonomous vehicles has become a key focus of research in recent years. Having an accurate position within a lane is vital to enabling high levels of automation and improving safety. Traditionally, vehicle navigation and positioning systems have relied heavily on the Global Navigation Satellite System (GNSS), particularly in open-sky scenarios. However, GNSS signals can be easily disrupted by environmental interferences. These include phenomena such as urban canyons, which result from multi-path interferences, as well as challenges posed by Non-Line-of-Sight (NLOS) situations. In the pursuit of developing robust systems resilient to such issues, the concept of sensor fusion has been widely employed. Among all sensors used in commercial self-driving vehicles, mechanical LiDAR is the primary sensor. Utilizing point cloud data from LiDAR and registering it with a prior point cloud map can result in highly accurate position results. However, the high cost of mechanical LiDAR has limited the mass production of point cloud map and autonomous vehicle. In this paper, we evaluate several successful Simultaneous Localization and Mapping (SLAM) architectures from LiDAR-based to LiDAR-Inertial-based using single Solid-State LiDAR (SSL). Last, we proposed a single SSL mapping and localization framework that can achieve 36 centimeters 3D RMSE and 0.5 degree accuracy in heading estimation.
نوع الوثيقة: article
وصف الملف: electronic resource
اللغة: English
تدمد: 1682-1750
2194-9034
Relation: https://isprs-archives.copernicus.org/articles/XLVIII-1-W2-2023/841/2023/isprs-archives-XLVIII-1-W2-2023-841-2023.pdf; https://doaj.org/toc/1682-1750; https://doaj.org/toc/2194-9034
DOI: 10.5194/isprs-archives-XLVIII-1-W2-2023-841-2023
URL الوصول: https://doaj.org/article/322f6973266445909a581e092dbb9883
رقم الأكسشن: edsdoj.322f6973266445909a581e092dbb9883
قاعدة البيانات: Directory of Open Access Journals
الوصف
تدمد:16821750
21949034
DOI:10.5194/isprs-archives-XLVIII-1-W2-2023-841-2023