실내 환경에서의 레이저 반사도를 고려한 라이다 기반 지도 작성
LiDAR-based Mapping Considering Laser Reflectivity in Indoor Environments
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Light detection and ranging (LiDAR) sensors have been most widely used in terrestrialrobotic applications because they can provide dense and precise measurements of the surroundingenvironments. However, the reliability of LiDAR measurements can considerably vary due to thedifferent reflectivities of laser beams to the reflecting surface materials. This study presents a robustLiDAR-based mapping method for the varying laser reflectivities in indoor environments using theframework of simultaneous localization and mapping (SLAM). The proposed method can minimize theperformance degradations in the SLAM accuracy by checking and discarding potentially unreliableLiDAR measurements in the SLAM front-end process. The gaps in point-cloud maps created by theproposed approach are filled by a Gaussian process regression method. Experimental results with amobile robot platform in an indoor environment are presented to validate the effectiveness of theproposed methodology.
Abstract
Light detection and ranging (LiDAR) sensors have been most widely used in terrestrialrobotic applications because they can provide dense and precise measurements of the surroundingenvironments. However, the reliability of LiDAR measurements can considerably vary due to thedifferent reflectivities of laser beams to the reflecting surface materials. This study presents a robustLiDAR-based mapping method for the varying laser reflectivities in indoor environments using theframework of simultaneous localization and mapping (SLAM). The proposed method can minimize theperformance degradations in the SLAM accuracy by checking and discarding potentially unreliableLiDAR measurements in the SLAM front-end process. The gaps in point-cloud maps created by theproposed approach are filled by a Gaussian process regression method. Experimental results with amobile robot platform in an indoor environment are presented to validate the effectiveness of theproposed methodology.
참고문헌 (8)
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