期刊
IMAGE AND VISION COMPUTING
卷 40, 期 -, 页码 28-37出版社
ELSEVIER
DOI: 10.1016/j.imavis.2015.06.002
关键词
Panoramic camera; Laser; Sensor fusion; Constrained bundle adjustment
类别
资金
- National Key Basic Research Program of China [2012CB719902]
- National Natural Science Foundation of China [41301365, 41471288, 61403285]
- National High-Tech R&D Program of China [2015AA124001]
Pose estimation is a key concern in 3D urban surveying, mapping, and navigation. Although Global Positioning System (GPS) technologies can be used to estimate a robot's or vehicle's pose, there are many urban environments in which GPS functions poorly or not at all. For these situations, we offer a novel approach based on a careful fusion of panoramic camera data and 2D laser scanner input. First, a Constrained Bundle Adjustment (CBA) is introduced to handle scale and loop closure constraints. The fusion of a panoramic image series and laser data then enables an accurate scale to be estimated and loop closures detected. Finally, the two geometric constraints are enforced on the global CBA solution, which in turn produces a robust pose estimate. Experiments show that the proposed method is practicable and more accurate than vision-only methods, with an average error of just 0.2 m in the horizontal plane over a 580 m trajectory. (C). 2015 Elsevier B.V. All rights reserved.
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