Tibebu Haileleol, Roche Jamie, De Silva Varuna, Kondoz Ahmet
Institute of Digital Technologies, Loughborough University London, 3 Lesney Avenue, London E20 3BS, UK.
Sensors (Basel). 2021 Mar 24;21(7):2263. doi: 10.3390/s21072263.
Creating an accurate awareness of the environment using laser scanners is a major challenge in robotics and auto industries. LiDAR (light detection and ranging) is a powerful laser scanner that provides a detailed map of the environment. However, efficient and accurate mapping of the environment is yet to be obtained, as most modern environments contain glass, which is invisible to LiDAR. In this paper, a method to effectively detect and localise glass using LiDAR sensors is proposed. This new approach is based on the variation of range measurements between neighbouring point clouds, using a two-step filter. The first filter examines the change in the standard deviation of neighbouring clouds. The second filter uses a change in distance and intensity between neighbouring pules to refine the results from the first filter and estimate the glass profile width before updating the cartesian coordinate and range measurement by the instrument. Test results demonstrate the detection and localisation of glass and the elimination of errors caused by glass in occupancy grid maps. This novel method detects frameless glass from a long range and does not depend on intensity peak with an accuracy of 96.2%.
利用激光扫描仪创建对环境的精确感知是机器人技术和汽车工业中的一项重大挑战。激光雷达（光探测和测距）是一种强大的激光扫描仪，可提供环境的详细地图。然而，由于大多数现代环境中都包含激光雷达无法检测到的玻璃，因此尚未实现高效、精确的环境映射。本文提出了一种使用激光雷达传感器有效检测和定位玻璃的方法。这种新方法基于相邻点云之间距离测量值的变化，采用两步滤波器。第一个滤波器检查相邻云的标准差变化。第二个滤波器利用相邻脉冲之间的距离和强度变化来细化第一个滤波器的结果，并在仪器更新笛卡尔坐标和距离测量之前估计玻璃轮廓宽度。测试结果证明了玻璃的检测和定位以及占用栅格地图中由玻璃引起的误差的消除。这种新方法能够从远距离检测无框玻璃，并且不依赖强度峰值，准确率达到96.2%。
