Choi Dong-Geol, Bok Yunsu, Kim Jun-Sik, Shim Inwook, Kweon In So
Robotics and Computer Vision Lab, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon 34141, Korea.
Broadcasting Media Research Lab, Electronics and Telecommunications Research Institute, 218 Gajeong-ro, Yuseong-gu, Daejeon 34129, Korea.
Sensors (Basel). 2017 Feb 3;17(2):242. doi: 10.3390/s17020242.
This paper presents a novel structure-from-motion methodology using 2D lidars (Light Detection And Ranging). In 3D space, 2D lidars do not provide sufficient information for pose estimation. For this reason, additional sensors have been used along with the lidar measurement. In this paper, we use a sensor system that consists of only 2D lidars, without any additional sensors. We propose a new method of estimating both the 6D pose of the system and the surrounding 3D structures. We compute the pose of the system using line segments of scan data and their corresponding planes. After discarding the outliers, both the pose and the 3D structures are refined via nonlinear optimization. Experiments with both synthetic and real data show the accuracy and robustness of the proposed method.
本文提出了一种使用二维激光雷达（光探测与测距）的新颖的运动结构方法。在三维空间中，二维激光雷达无法为姿态估计提供足够的信息。因此，除了激光雷达测量外，还使用了其他传感器。在本文中，我们使用仅由二维激光雷达组成的传感器系统，不使用任何其他传感器。我们提出了一种估计系统的六维姿态和周围三维结构的新方法。我们使用扫描数据的线段及其相应平面来计算系统的姿态。在去除异常值后，通过非线性优化对姿态和三维结构进行优化。对合成数据和真实数据的实验都表明了该方法的准确性和鲁棒性。
