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首页> 外文会议>International Conference on Informatics in Control, Automation and Robotics >Distortion Correction of Laser Scan Data from In-vehicle Laser Scanner based on Kalman Filter and NDT Scan Matching
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Distortion Correction of Laser Scan Data from In-vehicle Laser Scanner based on Kalman Filter and NDT Scan Matching

机译：基于卡尔曼滤波器和NDT扫描匹配的车载激光扫描仪激光扫描数据的失真校正

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This paper presents a Kalman-filter-based method of correcting distortion in 3D laser-scan data from invehicle multilayer laser scanner. A robot identifies its own 3D pose (position and attitude) in a laser-scan period using the normal-distributions transform (NDT) scan-matching method. Based on the pose information, the robot's pose is predicted and smoothed in a period shorter than the scan period using Kalman filter under the assumption that the robot moves at nearly constant linear and turning velocities. The predicted and smoothed poses of the robot are applied to map laser-scan data onto a world coordinate frame. Subsequently, the robot again identifies its own 3D pose from the mapped scan data using NDT scan matching. This iterative process enables the robot to correct the distortion of laser-scan data and accurately map the laser-scan data onto the world coordinate frame. Experimental results of mapping a signal light in a road environment validate the proposed method.
机译：本文介绍了一种基于卡尔曼滤波器的校正校正逆时间的校正失真的方法，来自invehicle多层激光扫描仪。机器人使用正常分布变换（NDT）扫描方法在激光扫描周期中识别其自己的3D姿势（位置和姿态）。基于姿势信息，在假设机器人在几乎恒定的线性和转动速度下移动的假设下，在扫描周期中预测并平滑机器人的姿势。将预测和平滑的机器人姿势应用于将激光扫描数据映射到世界坐标框架。随后，机器人再次使用NDT扫描匹配从映射的扫描数据中识别其自己的3D姿势。该迭代过程使机器人能够校正激光扫描数据的失真并将激光扫描数据精确地将激光扫描数据映射到世界坐标框架上。在道路环境中映射信号光的实验结果验证了所提出的方法。

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