Palacín Jordi, Martínez David, Rubies Elena, Clotet Eduard
Robotics Laboratory, University of Lleida, Jaume II, 69, 25001 Lleida, Spain.
Sensors (Basel). 2020 Apr 28;20(9):2500. doi: 10.3390/s20092500.
This paper proposes mobile robot self-localization based on an onboard 2D push-broom (or tilted-down) LIDAR using a reference 2D map previously obtained with a 2D horizontal LIDAR. The hypothesis of this paper is that a 2D reference map created with a 2D horizontal LIDAR mounted on a mobile robot or in another mobile device can be used by another mobile robot to locate its location using the same 2D LIDAR tilted-down. The motivation to tilt-down a 2D LIDAR is the direct detection of holes or small objects placed on the ground that remain undetected for a fixed horizontal 2D LIDAR. The experimental evaluation of this hypothesis has demonstrated that self-localization with a 2D push-broom LIDAR is possible by detecting and deleting the ground and ceiling points from the scan data, and projecting the remaining scan points in the horizontal plane of the 2D reference map before applying a 2D self-location algorithm. Therefore, an onboard 2D push-broom LIDAR offers self-location and accurate ground supervision without requiring an additional motorized device to change the tilt of the LIDAR in order to get these two combined characteristics in a mobile robot.
本文提出了一种基于车载二维推扫式（或向下倾斜）激光雷达的移动机器人自定位方法，该方法使用先前通过二维水平激光雷达获得的参考二维地图。本文的假设是，安装在移动机器人或其他移动设备上的二维水平激光雷达创建的二维参考地图，可被另一个移动机器人用于通过向下倾斜的同一二维激光雷达来定位自身位置。将二维激光雷达向下倾斜的动机是能够直接检测放置在地面上的孔洞或小物体，而这些对于固定的水平二维激光雷达来说是无法检测到的。对该假设的实验评估表明，通过从扫描数据中检测并删除地面和天花板点，并在应用二维自定位算法之前将剩余扫描点投影到二维参考地图的水平面上，使用二维推扫式激光雷达进行自定位是可行的。因此，车载二维推扫式激光雷达无需额外的电动装置来改变激光雷达的倾斜度，就能在移动机器人中实现自定位和精确的地面监测这两个组合特性。
