无人车平台激光点云中线特征提取
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摘要
随着无人平台的应用越来越广泛,由激光点云提取线特征构建高精度特征地图已成为研究的重点。本文基于深度图像中的二维线特征,提出了一种新的几何模型对其进行优化,得到准确的三维线特征,并使用贝叶斯滤波对多帧结果进行融合,提高了三维再线特征的精度和准确率。
As the application of unmanned platforms is becoming more and more widespread,building high-precision feature maps by extracting line features from Li DAR point cloud has also become the focus of research.In this paper,a new geometric model is proposed to obtain accurate 3D line features based on the 2D line features of the depth image.The Bayesian filter is used to fuse the results of multiple frames to improve the precision and accuracy of the 3D line features.
As the application of unmanned platforms is becoming more and more widespread,building high-precision feature maps by extracting line features from Li DAR point cloud has also become the focus of research.In this paper,a new geometric model is proposed to obtain accurate 3D line features based on the 2D line features of the depth image.The Bayesian filter is used to fuse the results of multiple frames to improve the precision and accuracy of the 3D line features.
引文
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[27]GEIGER A,LENZ P,STILLER C,et al.Vision meets robotics:the KITTI dataset[J].The International Journal of Robotics Research,2013,32(11):1231-1237.
[2]MUR-ARTAL R,TARDOS J D.ORB-SLAM2:an opensource SLAM system for monocular,stereo and RGB-Dcamera[J].IEEE Transactions on Robotics,2017(33):1255-1262.
[3]ZHANG J,SINGH S.LOAM:Li DAR odometry and mapping in real-time[C]∥Robotics:Science and Systems Conference.Berkeley:[s.n.],2014.
[4]TEULIRE C,MARCHAND E,ECK L.3D model-based tracking for UAV indoor localisation[J].IEEETransactions on Cybernetics,2015,45(5):869-879.
[5]SUJIWO A,TAKEUCHI E,MORALES L Y.Localization based on multiple visual-metricm map[C]∥International Conference on Multisensor Fusion and Integration for Intelligent Systems.Daegu:[s.n.],2017:16-28.
[6]VIVACQUA R P D,BERTOZZI M,CERRI P,et al.Self-localization based on visual lane maps:an accurate low-cost approach for automous driving[J].IEEETransactions on Intelligent Transportation Systems,2018(19):582-597.
[7]LI L,YANG M,WANG B,et al.An overview on sensor map based localization for automated driving[C]∥Urban Remote Sensing Event(JUESE).Dubai:[s.n.],2017.
[8]XU Y,JOHN V,MITA S,et al.3D point cloud map based vehicle localization using stereo camera[C]∥Intelligent Vehicles Symposium(IV).Redondo Beach:[s.n.],2017:487-492.
[9]王宏明.移动机器人导航与环境建模问题研究[D].北京:中国科学院自动化研究所,2017.
[10]倪欢,张继贤,林祥国.三维点云边缘检测和直线段提取进展与展望[J].测绘通报,2016(7):1-4.
[11]XIA S,WANG R.A fast edge extraction method for mobile Li DAR points[J].IEEE Geoscience and Remote Sensing Letters,2017(14):1288-1292.
[12]NI H,LIN X,NING X,et al.Edge detection and feature line tracing in 3D point clouds by analyzing geometric properties of neighborhoods[J].Remote Sensing,2016(8):710.
[13]BORGES P,ZLOT R,BOSSE M,et al.Vision-based localization using an edge map extracted from 3D laser range data[C]∥IEEE International Conference on Robotics and Automation.Anchorage:[s.n.],2010:4902-4909.
[14]LIN Y,WANG C,CHENG J,et al.Line segment extraction for large scale unorganized point clouds[J].ISPRSJournal of Photogrammetry and Remote Sensing,2015,102:172-183.
[15]WANG R R,LAI X,HOU W.Study on edge detection of Li DAR point cloud[C]∥2011 International Conference on Intelligent Computation and Bio-Medical Instrumentation.Wuhan:[s.n.],2011:71-73.
[16]POULLIS C.A framework for automatic modeling from point cloud data[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2013,35(11):2563-2575.
[17]CAO Y P,JU T,XU J,et al.Extracting sharp features from RGB-D images[J].Computer Graphics,2017,36(2):138-152.
[18]汪涛.智能行驶车辆定位技研究[D].长春:吉林大学,2017.
[19]李嘉,宋科璞.基于无人车的实时地图建立与定位[J].兵工自动化,2009,28(6):50-53.
[20]张露,郑顺义,杨锦锦.基于Kinect的点云精度分析[J].郑州师范教育,2015(4):51-54.
[21]徐晴雯,SCHWERTFEGER S.多种激光传感器实验对比与评估[J].电子设计工程,2018(26):111-115.
[22]CHRISTIAN B.Interactive scientific visualization of large datasets:towards a perceptive-based approach[D].Grenoble:Joseph Fourier University,2009.
[23]曾俊.图像边缘检测技术及其应用研究[D].武汉:华中科技大学,2011.
[24]VON GIOI R G,JAKUBOWICZ J,MOREL J M,et al.LSD:a fast line segment detector with a false detection control[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2010,32(4):722-732.
[25]曲彦文.贝叶斯滤波若干问题研究[D].南京:南京理工大学,2010.
[26]李秋彦,沈毅,刘志言.基于粒子滤波器的多机动目标跟踪贝叶斯滤波算法研究[J].战术导弹技术,2005(2):13-19.
[27]GEIGER A,LENZ P,STILLER C,et al.Vision meets robotics:the KITTI dataset[J].The International Journal of Robotics Research,2013,32(11):1231-1237.