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首页> 外文会议>IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems >A LiDAR Odometry for Outdoor Mobile Robots Using NDT Based Scan Matching in GPS-denied environments
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A LiDAR Odometry for Outdoor Mobile Robots Using NDT Based Scan Matching in GPS-denied environments

机译：使用基于NDT基于NDT的扫描匹配在GPS拒绝环境中的户外移动机器人的激光乐水机器测量

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The three-dimensional localization problem of outdoor mobile robots is a primary issue for autonomous navigation applications, since the accuracy of positioning will affect the incoming mapping and path planning tasks heavily. In this paper, using INS, encoder and laser LiDAR as the main means for pose perception, a laser LiDAR aided odometry approach based on the normal distributions transform(NDT) scan matching approach is proposed to improve the precision of pose estimates for a mobile robot in GPS denied outdoor environments. The 3D kinematic model of the mobile robot is developed so that the IMU and the encoder data can be fused firstly to obtain the initial localization result with dead reckoning technologies. On that basis, the three-dimensional NDT scan matching method is introduced to compute the pose transformation matrix in real-time using the adjacent two depth frames from LiDAR data, which can get fine pose estimates by calibrate the accumulation errors periodically. Experiments results show the correctness and validity of the presented method.
机译：户外移动机器人的三维定位问题是自主导航应用的主要问题，因为定位的准确性将影响传入的映射和路径规划任务。在本文中，使用INS，编码器和激光LIDAR作为姿态感知的主要装置，提出了一种基于正常分布变换（NDT）扫描匹配方法的激光激光LIDAR辅助机构方法，以提高移动机器人的姿势估计的精度在GPS否认户外环境。开发了移动机器人的3D运动模型，使得IMU和编码器数据可以首先融合，以获得具有死亡估算技术的初始本地化结果。在此基础上，引入三维NDT扫描匹配方法以实时地使用LIDAR数据实时计算姿势变换矩阵，这可以通过周期性地校准累积误差来获得细姿势估计。实验结果表明了所提出的方法的正确性和有效性。

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