Sole GNSS Sensor Extrinsic Calibration Methods for Mobile Mapping Systems

Article Engineering, Multidisciplinary

A systematic mapping framework for backpack mobile mapping system in common monotonous environments

Bao Sheng et al.

Summary: This paper proposes a systematic pedestrian dead reckoning (PDR) augmentation mapping framework to improve the mapping accuracy of mobile mapping systems (MMS) in monotonous environments.

MEASUREMENT (2022)

添加到收藏夹

Article Remote Sensing

FastLCD: A fast and compact loop closure detection approach using 3D point cloud for indoor mobile mapping

Haodong Xiang et al.

Summary: In this paper, a fast and compact loop closure detection method is proposed based on comprehensive descriptors and machine learning for indoor LiDAR mobile mapping, achieving reliable and precise results. By feeding specific descriptor values into a machine learning model and using a loop candidate verification strategy, the proposed method shows superior performance in precision and recall rate.

INTERNATIONAL JOURNAL OF APPLIED EARTH OBSERVATION AND GEOINFORMATION (2021)

添加到收藏夹

Article Robotics

IN2LAAMA: Inertial Lidar Localization Autocalibration and Mapping

Cedric Le Gentil et al.

Summary: This article introduces an offline probabilistic framework for localization, mapping, and extrinsic calibration based on a 3-D lidar and a six-degree-of-freedom inertial measurement unit. The proposed method leverages preintegration and full batch optimization to eliminate motion distortion, achieving automatic calibration and registration of lidar data.

IEEE TRANSACTIONS ON ROBOTICS (2021)

添加到收藏夹

Article Computer Science, Interdisciplinary Applications

A robot hand-eye calibration method of line laser sensor based on 3D reconstruction

Mingyang Li et al.

Summary: This paper proposes a 3D reconstruction-based robot line laser hand-eye calibration method, using a newly defined error index to reflect calibration results more intuitively, and adopting a Particle Swarm Optimization - Gaussian Process method to improve calibration efficiency. Experimental results show that the method can achieve more accurate reconstructed point clouds and lower reprojection errors.

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING (2021)

添加到收藏夹

Article Computer Science, Hardware & Architecture

Fast Linear Interpolation

Nathan Zhang et al.

Summary: This study proposes fast implementations of linear interpolation operations for image processing and deep lattice networks using MLIR for efficient compiler acceleration. Experimental results show that the new strategies for multidimensional linear interpolation in multi-layer lattice models run 5 to 10 times faster on a standard CPU compared to an optimized C++ interpreter implementation.

ACM JOURNAL ON EMERGING TECHNOLOGIES IN COMPUTING SYSTEMS (2021)

添加到收藏夹

Article Robotics

Pixel-Level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments

Chongjian Yuan et al.

Summary: The study introduces a novel method for automatic extrinsic calibration of high-resolution LiDARs and RGB cameras in targetless environments. It achieves high pixel-level accuracy by aligning natural edge features in the two sensors without the need for checkerboards. The method shows high robustness, accuracy, and consistency in various indoor and outdoor scenes, promoting research and application of LiDAR and camera fusion.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

添加到收藏夹

Article Robotics

Low-Drift Odometry, Mapping and Ground Segmentation Using a Backpack LiDAR System

Pengxin Chen et al.

Summary: The paper proposes a framework for odometry, mapping, and ground segmentation using a backpack LiDAR system, achieving real-time and low-drift performance. Methods such as spatio-temporal calibration, feature extraction, and fast ground segmentation are utilized to evaluate datasets across different scales and environments effectively. The proposed method consistently outperforms state-of-the-art techniques before applying loop closure optimization and sensor fusion.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

添加到收藏夹

Article Engineering, Electrical & Electronic