Detail publikace

Collar Line Segments for Fast Odometry Estimation from Velodyne Point Clouds

VEĽAS, M. ŠPANĚL, M. HEROUT, A.

Originální název

Collar Line Segments for Fast Odometry Estimation from Velodyne Point Clouds

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

We present a novel way of odometry estimation from Velodyne LiDAR point cloud scans. The aim of our work is to overcome the most painful issues of Velodyne data - the sparsity and the quantity of data points - in an efficient way, enabling more precise registration. Alignment of the point clouds which yields the final odometry is based on random sampling of the clouds using Collar Line Segments. The closest line segment pairs are identified in two sets of line segments obtained from two consequent Velodyne scans. From each pair of correspondences,  a  transformation aligning the matched line segments into a 3D plane is estimated. By this, significant planes (ground, walls, ...) are preserved among aligned point clouds. Evaluation using the KITTI dataset shows that our method outperforms publicly available and commonly used state-of-the-art method GICP for point cloud registration in both accuracy and speed, especially in cases where the scene lacks significant landmarks or in typical urban elements. For such environments, the registration error of our method  is reduced by 75% compared to the original GICP error.

Klíčová slova

Velodyne LiDAR, point cloud registration, odometry estimation, collar line segments, ICP, generalized ICP, SLAM

Autoři

VEĽAS, M.; ŠPANĚL, M.; HEROUT, A.

Vydáno

16. 5. 2016

Nakladatel

IEEE Computer Society

Místo

Stockholm

ISBN

978-1-4673-8025-6

Kniha

Proceedings of IEEE International Conference on Robotics and Automation

Strany od

4486

Strany do

4491

Strany počet

6

URL

http://ieeexplore.ieee.org/document/7487648/

BibTex

@inproceedings{BUT130914,
  author="Martin {Veľas} and Michal {Španěl} and Adam {Herout}",
  title="Collar Line Segments for Fast Odometry Estimation from Velodyne Point Clouds",
  booktitle="Proceedings of IEEE International Conference on Robotics and Automation",
  year="2016",
  pages="4486--4491",
  publisher="IEEE Computer Society",
  address="Stockholm",
  doi="10.1109/ICRA.2016.7487648",
  isbn="978-1-4673-8025-6",
  url="http://ieeexplore.ieee.org/document/7487648/"
}