Collar Line Segments for Fast Odometry Estimation from Velodyne Point Clouds

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F16%3APU121570" target="_blank" >RIV/00216305:26230/16:PU121570 - isvavai.cz</a>

Result on the web

<a href="http://ieeexplore.ieee.org/document/7487648/" target="_blank" >http://ieeexplore.ieee.org/document/7487648/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICRA.2016.7487648" target="_blank" >10.1109/ICRA.2016.7487648</a>

Result language

angličtina

Original language name

Collar Line Segments for Fast Odometry Estimation from Velodyne Point Clouds

Original language description

We present a novel way of odometry estimation from Velodyne LiDAR point cloud scans. The aim of our work is to overcome the most painful issues of Velodyne data - the sparsity and the quantity of data points - in an efficient way, enabling more precise registration. Alignment of the point clouds which yields the final odometry is based on random sampling of the clouds using Collar Line Segments. The closest line segment pairs are identified in two sets of line segments obtained from two consequent Velodyne scans. From each pair of correspondences,  a  transformation aligning the matched line segments into a 3D plane is estimated. By this, significant planes (ground, walls, ...) are preserved among aligned point clouds. Evaluation using the KITTI dataset shows that our method outperforms publicly available and commonly used state-of-the-art method GICP for point cloud registration in both accuracy and speed, especially in cases where the scene lacks significant landmarks or in typical urban elements. For such environments, the registration error of our method  is reduced by 75% compared to the original GICP error.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2016

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of IEEE International Conference on Robotics and Automation

ISBN

978-1-4673-8025-6

ISSN

—

e-ISSN

—

Number of pages

6

Pages from-to

4486-4491

Publisher name

IEEE Computer Society

Place of publication

Stockholm

Event location

Stockholm

Event date

May 16, 2016

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000389516203125