Correction Algorithm of LIDAR Data for Mobile Robots

Bai, Wenzhi; Li, Gen; Han, Lizhi

doi:10.1007/978-3-319-65292-4_10

Cited by 5 publications

(4 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In 2017, Liya Han et al [ 97 , 98 , 99 ] installed a binocular vision system with a structured light projector on an industrial robot to form a 3D measurement system for high-temperature metal components. Through the continuous movement of the structured light scanner driven by a robot, 3D data can be obtained from multiple viewing angles, which solves the limitations of environmental occlusion and a single viewing angle.…”

Section: Multi-view Stereo Vision Measurement Methodsmentioning

confidence: 99%

Three-Dimensional Morphology and Size Measurement of High-Temperature Metal Components Based on Machine Vision Technology: A Review

Wen

Wang

Zhang

et al. 2021

Sensors

View full text Add to dashboard Cite

The three-dimensional (3D) size and morphology of high-temperature metal components need to be measured in real time during manufacturing processes, such as forging and rolling. Since the surface temperature of a metal component is very high during the forming and manufacturing process, manually measuring the size of a metal component at a close distance is difficult; hence, a non-contact measurement technology is required to complete the measurement. Recently, machine vision technology has been developed, which is a non-contact measurement technology that only needs to capture multiple images of a measured object to obtain the 3D size and morphology information, and this technology can be used in some extreme conditions. Machine vision technology has been widely used in industrial, agricultural, military and other fields, especially fields involving various high-temperature metal components. This paper provides a comprehensive review of the application of machine vision technology in measuring the 3D size and morphology of high-temperature metal components. Furthermore, according to the principle and method of measuring equipment structures, this review highlights two aspects in detail: laser scanning measurement and multi-view stereo vision technology. Special attention is paid to each method through comparisons and analyses to provide essential technical references for subsequent researchers.

show abstract

Section: Multi-view Stereo Vision Measurement Methodsmentioning

confidence: 99%

Three-Dimensional Morphology and Size Measurement of High-Temperature Metal Components Based on Machine Vision Technology: A Review

Wen

Wang

Zhang

et al. 2021

Sensors

View full text Add to dashboard Cite

show abstract

“…The Lidar motion distortion removal method used in our navigation system is the same as that in reference [29]. Feature extraction and motion calculation methods are the same as references [18,19].…”

Section: The Imu Pre-integration Factor and The Lidar Factormentioning

confidence: 99%

A Closed Stockyard UAV Intelligent Inventory System

Qiu

Lin

et al. 2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

Strategic resources affect national development and security at all times. Actual utilization of strategic resources is crucial. In recent years, strategic resources such as coal and mineral powder usually need to be stored in closed stockyards after mining due to environmental protection, concealment, and other reasons. The existing stockpiling inventory system cannot autonomously complete the stockpiling inventory in the closed stockyard with low risk, low cost, and high precision. Therefore, this paper proposes a closed stockyard UAV intelligent inventory system. Our inventory system comprises a UAV system, a visual mapping system, and a classification and volume calculation system. In this paper, we focus on the navigation system belonging to the UAV system and propose a GNSS-denied environment navigation system based on lidar and ArUco markers. We conduct experiments in the dry coal shed of thermal power plants, one of the application scenarios. After analysis and comparison, it can be concluded that our intelligent UAV stockpiling inventory system can complete the task with high robustness and high precision with the assistance of our navigation system.

show abstract

“…The correction equation for the state is shown in Equation ( 23), where K is the Kalman gain as shown in Equation (24). The correction equation for error covariance is shown in Equation (25).…”

Section: R Aruco Worldmentioning

confidence: 99%

“…When collecting the laser point cloud, first perform motion compensation on each point, align the timestamp, and project a period of the point cloud onto a frame of the point cloud image, which is recorded as the frame n [25]. Then, perform feature extraction on the frame point cloud image.…”

Section: Lidar Factormentioning

confidence: 99%

A Global ArUco-Based Lidar Navigation System for UAV Navigation in GNSS-Denied Environments

et al. 2022

View full text Add to dashboard Cite

With the continuous expansion of the application field of UAV intelligent systems to GNSS-denied environments, the existing navigation system can hardly meet low cost, high precision, and high robustness in such conditions. Most navigation systems used in GNSS-denied environments give up the connection between the map frame and the actual world frame, making them impossible to apply in practice. Therefore, this paper proposes a Lidar navigation system based on global ArUco, which is widely used in large-scale known GNSS-denied scenarios for UAVs. The system jointly optimizes the Lidar, inertial measurement unit, and global ArUco information by factor graph and outputs the pose in the real-world frame. The system includes a method to update the global ArUco confidence with sampling, improving accuracy while using the pose solved from the global ArUco. The system uses the global ArUco to maintain navigation when Lidar is degraded. The system also has a loop closure determination part based on ArUco, which reduces the consumption of computing resources. The navigation system has been tested in the dry coal shed of a thermal power plant using a UAV platform. Experiments demonstrate that the system can achieve global, accurate, and robust pose estimation in large-scale, complex GNSS-denied environments.

show abstract

Correction Algorithm of LIDAR Data for Mobile Robots

Cited by 5 publications

References 6 publications

Three-Dimensional Morphology and Size Measurement of High-Temperature Metal Components Based on Machine Vision Technology: A Review

Three-Dimensional Morphology and Size Measurement of High-Temperature Metal Components Based on Machine Vision Technology: A Review

A Closed Stockyard UAV Intelligent Inventory System

A Global ArUco-Based Lidar Navigation System for UAV Navigation in GNSS-Denied Environments

Contact Info

Product

Resources

About