Title :
Localization of an unmanned ground vehicle using 3D registration of laser range data and DSM
Author :
Park, Soon-Yong ; Choi, Sung-In ; Moon, Jaekyoung ; Kim, Joon ; Park, Yong Woon
Author_Institution :
Kyungpook Nat. Univ., Daegu, South Korea
Abstract :
Localization of an unmanned ground vehicle (UGV) is a very important task for autonomous vehicle navigation. In this paper, we propose a computer vision technique to identify the location of an outdoor UGV. The proposed technique is based on 3D registration of 360 degree laser range data to a digital surface model (DSM). A long sequence of range frames is obtained from a rotating range sensor which is mounted on the top of the vehicle. Two novel approaches are proposed for accurate 3D registration of range data and the DSM. First, registration is done between range frames in a pair-wise manner followed by a refinement with the DSM. Second, we divide the DSM to several layers and find correspondences near the current vehicle elevation. This reduces the number of outliers and facilitates fast localization. Experimental results show that the proposed approaches yield better performance in 3D localization compared to conventional 3D registration techniques. Error analysis on four outdoor paths is presented with respect to ground truth.
Keywords :
error analysis; image registration; image sensors; image sequences; laser ranging; mobile robots; path planning; remotely operated vehicles; robot vision; 3D localization; 3D registration; autonomous vehicle navigation; computer vision; digital surface model; error analysis; laser range data; outdoor UGV; range frames sequence; rotating range sensor; unmanned ground vehicle localization; vehicle elevation; Iterative algorithms; Iterative closest point algorithm; Land vehicles; Laser modes; Mobile robots; Navigation; Remotely operated vehicles; Road vehicles; Surface emitting lasers; Vehicle driving;
Conference_Titel :
Applications of Computer Vision (WACV), 2009 Workshop on
Conference_Location :
Snowbird, UT
Print_ISBN :
978-1-4244-5497-6
DOI :
10.1109/WACV.2009.5403059