Vision Odometer Based on RGB-D Camera

Sun, Haibo; Tang, Shoufeng; Sun, Suyuan; Tong, Minman

doi:10.1109/icris.2018.00052

Cited by 4 publications

(1 citation statement)

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“…The simplest such approach, dubbed Iterative Closest Point (ICP), simply matches each individual point between two scans [5]. Early ICP algorithms are quite computationally intensive because of the large number of possible correspondences, so ICP variants have been developed that accelerate processing by limiting correspondence to a local neighborhood [6], by down-sampling the number of points used in each scan [7,8], or by improving initialization [9,10]. Other feature-based methods identify and correspond edges [11,12], planes [13], or regions of similar LIDAR reflectivity [14] between scans.…”

Section: Introductionmentioning

confidence: 99%

Mitigating Shadows in LIDAR Scan Matching Using Spherical Voxels

McDermott

Rife

2022

IEEE Robot. Autom. Lett.

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In this paper we propose an approach to mitigate shadowing errors in LIDAR scan matching, by introducing a preprocessing step based on spherical gridding. Because the grid aligns with the LIDAR beam, it is relatively easy to eliminate shadow edges which cause systematic errors in LIDAR scan matching. As we show through testing on real and synthetic data from a mechanically spinning multi-channel LIDAR unit, our proposed algorithm provides better results than ground plane removal, the most common existing strategy for shadow mitigation. Unlike ground plane removal, our method applies to arbitrary terrains (e.g. shadows on urban walls, shadows in hilly terrain) while retaining key LIDAR points on the ground that are critical for estimating changes in height, pitch, and roll. In our experiments, we demonstrate how our technique drastically reduces error in NDT scan registration (compared to a standard Cartesian voxel grid) on real LIDAR point cloud data, and then conduct Monte-Carlo trials in a simulated environment to demonstrate how our proposed technique eliminates the systemic bias introduced by range-shadowing.

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