LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance

Abstract

As one of the automated guided vehicle (AGV) positioning methods, the LiDAR positioning method, based on artificial landmarks, has been widely used in warehousing logistics industries in recent years. However, the traditional LiDAR positioning method based on artificial landmarks mainly depends on the three-point positioning method, the performance of which is limited due to landmarks’ layout and detection requirements. This paper proposes a LiDAR positioning algorithm based on iterative closest point (ICP) and artificial landmarks assistance. It provides improvements based on the traditional ICP algorithm. The result of positioning provided by the landmarks is used as the initial iteration ICP value. The combination of the ICP algorithm and landmarks enables the positioning algorithm to maintain a certain positioning precision when landmark detection is disturbed. By comparing the proposed algorithm with the positioning scheme developed by SICK in Germany, we prove that the combination of the ICP algorithm and landmarks can effectively improve the robustness under the premise of ensuring precision.

Experimental Validation of LiDAR Sensors Used in Vehicular Applications by Using a Mobile Platform for Distance and Speed Measurements

“…The authors of [5] present a method for very precise distance measurement using LASER rangefinders that has an uncertainty at the level of of 1 cm. The authors of [6,7] propose different methods for detecting obstacles using LiDAR sensors with applications in 3D measurements and autonomous guidance systems. From these references, we can conclude that precise distance measurement is of great importance especially for the implementation of safety systems.…”

“…The speed indication was provided by the controller using a timer for the on-state of the sensor's input, and using a dedicated interruption for time counting. The time measured according to Equation (7) was sent to the master by radio communication, and the master performed the computation, as described in Equation (8).…”