3D LiDAR-based Localization of Autonomous Mobile Robot based on 3D Point Cloud Generated by Structure from Motion using Aerial photos
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- XI Han
- University of Tsukuba
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- DATE Hisashi
- University of Tsukuba
Bibliographic Information
- Other Title
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- ドローンによる空撮画像から三次元復元した点群地図を用いた自律移動ロボットの自己位置推定
Description
<p>This paper presents a rapid mapping method for outdoor mobile robot localization using aerial photos taken by a drone. The map is generated as a 3D point cloud constructed by SfM and MVS using multiple pictures taken by the drone camera. An autonomous vehicle equipped with 3D-LiDAR localizes its position and orientation using the NDT (Normal Distribution Transform). Outdoor experiments revealed that NDT works with matching the 3D point cloud from different sensors; camera and LiDAR. Accuracy and precision were compared by different altitudes of the drone where the pictures were taken.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (0), 2P2-I19-, 2020
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1391975276382376448
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- NII Article ID
- 130007944434
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed