LiDAR Pose Estimation for Vehicle Safety Systems

机译：车辆安全系统的LIDAR姿态估算

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This paper presents a proof of concept for an algorithm todetermine the attitude of a multi-layer laser rangefinder orLiDAR (Light Detection And Ranging) relative to a referenceframe given the ability of the LiDAR to make measurementsto a planar surface with sufficient and proper excitation. Dueto the highly non-linear nature of the problem presented,weighted recursive least squares along with a high orderunscented transform are used to obtain a final result which iscapable of being extended to vehicle safety systems toprovide a measurement of the roll and pitch of a vehiclerelative to the road's surface with a high degree of accuracy.

机译：本文呈现了一种算法致象的概念证明，鉴于激光雷达的能力，使得LiDAR能够使测量架具有充分且适当的激发的平面表面的参与框架的多层激光测距仪Orlidar（光检测和测距）的概念。 Dueto呈现的问题的高度非线性性质，加权递归最小二乘和高秩序的变换用于获得最终结果，该结果不能延伸到车辆安全系统拓扑辊的测量和车辆安全性的测量道路的表面具有高精度。

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《SAE World Congress》|2010年||共10页
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作者
Jordan Britt; David Bevly;
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原文格式 PDF
正文语种
中图分类 U46-532;
关键词
Pose; Estimation; Vehicle;

机译：姿势;估计;车辆;

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专利

1. Uncooperative pose estimation with a LIDAR-based system [J] . Opromolla Roberto, Fasano Giancarmine, Rufino Giancarlo, Acta astronautica . 2015,第mayajuna期

机译：基于LIDAR的系统不合作的姿势估计
2. Drogue pose estimation for unmanned aerial vehicle autonomous aerial refueling system based on infrared vision sensor [J] . Shanjun Chen, Haibin Duan, Yimin Deng, Optical engineering . 2017,第12期

机译：基于红外视觉传感器的无人机自主空中加油系统锥位估计
3. Vehicle pose estimation algorithm for parking automated guided vehicle [J] . Zhixiong Ning, Xin Wang, Jun Wang, International Journal of Advanced Robotic Systems . 2020,第1期

机译：停车自动导向车辆的车辆姿势估计算法
4. LiDAR Pose Estimation for Vehicle Safety Systems [C] . Jordan Britt, David Bevly SAE World Congress . 2010

机译：车辆安全系统的LIDAR姿态估算
5. A framework for non-ICP LIDAR-based pose estimation using an optimally constrained 3D target. [D] . Saint-Cyr, Pierre. 2011

机译：使用最佳约束3D目标的非ICP LIDAR姿态估计的框架。
6. Fast Dynamic Vehicle Detection in Road Scenarios Based on Pose Estimation with Convex-Hull Model [O] . Kaiqi Liu, Jianqiang Wang 2019

机译：基于凸包模型的姿态估计的道路动态车辆快速检测
7. Report drawn up on behalf of the Committee on Economic and Monetary Affairs on proposals from the Commission of the European Communities to the Council on the elimination of technical barriers to trade in particular, proposals for directives on the approximation of laws of theMember States relating to:safety belts and restraint systems and head restraints of seats of motorvehicles (Doe. 464/74);headlights for motor vehicles emitting an asymmetrical passing beam or adriving beam or both, and to incandescent electric lamps for suchheadlights (Doe. 452/74);side lights, rear lights and stop lights for motor vehicles and their trailers(Doe. 457/74);the rear registration-plate illuminating device of motor vehicles and theirtrailers (Doe. 450/74);towing hooks on motor vehicles (Doe. 462/74);the roll-over protection structures of wheeled agricultural or forestrytractors (Doe. 456/74);the type-approval of motorcycles (Doe. 463/74 );alcoholometers and hydrometers for alcohol and alcohol tables(Doe. 406/74);electromedical equipment and medical X-ray equipment operating at 10to 400 kV (Doe. 453/74);common provisions for constructional plant and equipment; themeasurement of the sound level of constructional plant and equipment;the permissible sound level for pneumatic concrete-breakers andjackhammers (Doe. 454/74); 'appliances using gaseous fuels, safety and control devices for theseappliances and methods for inspecting these appliances and appliancesusing gaseous fuels for the instantaneous production of hot water forsanitary purposes (Doe. 459/74). Working Documents 1974-1975, Document 517/74, 10 March 1975 [O] . 1975

机译：代表经济和货币事务委员会就欧洲共同体委员会向理事会提出的关于消除贸易技术壁垒的建议提出的报告，关于近似法律的指示的提案成员国涉及：安全带和约束系统以及电动机座椅的头枕车辆（Doe.464 / 74）;用于发出不对称通过光束或a的机动车辆的前灯驱动光束或两者，以及用于此类的白炽电灯头灯（Doe.452 / 74）;汽车及其拖车的侧灯，尾灯和刹车灯（Doe.457 / 74）;机动车后置板照明装置及其机动车拖车（Doe.450 / 74）;机动车辆上的牵引钩（Doe.462 / 74）;轮式农业或林业的翻车保护结构拖拉机（Doe.456 / 74）;摩托车的型式认可（Doe.463 / 74）;用于酒精和酒精表的酒精计和比重计（Doe.406 / 74）;电子医疗设备和医疗X射线设备运行在10到400 kV（Doe.453 / 74）;建筑工厂和设备的共同规定;该测量建筑工厂和设备的声级;气动混凝土破碎机允许的声级手提钻（Doe.454 / 74）; “使用气体燃料的设备，这些设备的安全和控制装置用于检查这些器具和器具的器具和方法使用气态燃料瞬间生产热水卫生用途（Doe.459 / 74）。工作文件1974-1975，文件517/74，1975年3月10日

LiDAR Pose Estimation for Vehicle Safety Systems

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