A practical method utilizing multi-spectral LiDAR to aid points cloud matching in SLAM  

作　　者：Changhui Jiang Yuwei Chen Wenxin Tian Ziyi Feng Wei Li Chunchen Zhou Hui Shao Eetu Puttonen Juha Hyyppä 

机构地区：[1]Department of Remote Sensing and Photogrammetry,Finnish Geospatial Research Institute(FGI),02430 Masala,Finland [2]Interdisciplinary Division of Aeronautical and Aviation Engineering,The Hong Kong Polytechnic University,Kowloon,Hong Kong,China [3]Key Laboratory of Quantitative Remote Sensing Information Technology,Chinese Academy of Sciences(CAS),Beijing 100094,China [4]School of Electrical Engineering,Aalto University,02150 Espoo,Finland [5]The School of Electronic and Information Engineering,Anhui Jianzhu University,Hefei 230601,China

出　　处：《Satellite Navigation》2020年第1期317-327,共11页卫星导航（英文）

基　　金：Academy of Finland projects“Centre of Excellence in Laser Scanning Research(CoE-LaSR)(307362)”;Strategic Research Council project“Competence-Based Growth Through Integrated Disruptive Technologies of 3D Digitalization,Robotics,Geospatial Information and Image Processing/Computing-Point Cloud Ecosystem(314312);Additionally,Chinese Academy of Science(181811KYSB20160113,XDA22030202);Beijing Municipal Science and Technology Commission(Z181100001018036);Shanghai Science and Technology Foundations(18590712600);Jihua lab(X190211TE190)are acknowledged.

摘　　要：Light Detection and Ranging(LiDAR)sensors are popular in Simultaneous Localization and Mapping(SLAM)owing to their capability of obtaining ranging information actively.Researchers have attempted to use the intensity information that accompanies each range measurement to enhance LiDAR SLAM positioning accuracy.However,before employing LiDAR intensities in SLAM,a calibration operation is usually carried out so that the intensity is independent of the incident angle and range.The range is determined from the laser beam transmitting time.Therefore,the key to using LiDAR intensities in SLAM is to obtain the incident angle between the laser beam and target surface.In a complex environment,it is difficult to obtain the incident angle robustly.This procedure also complicates the data processing in SLAM and as a result,further application of the LiDAR intensity in SLAM is hampered.Motivated by this problem,in the present study,we propose a Hyperspectral LiDAR(HSL)-based-intensity calibration-free method to aid point cloud matching in SLAM.HSL employed in this study can obtain an eight-channel range accompanied by corresponding intensity measurements.Owing to the design of the laser,the eight-channel range and intensity were collected with the same incident angle and range.According to the laser beam radiation model,the ratio values between two randomly selected channels’intensities at an identical target are independent of the range information and incident angle.To test the proposed method,the HSL was employed to scan a wall with different coloured papers pasted on it(white,red,yellow,pink,and green)at four distinct positions along a corridor(with an interval of 60 cm in between two consecutive positions).Then,a ratio value vector was constructed for each scan.The ratio value vectors between consecutive laser scans were employed to match the point cloud.A classic Iterative Closest Point(ICP)algorithm was employed to estimate the HSL motion using the range information from the matched point clouds.According to the test

关 键 词：SLAM Laser intensity LIDAR CALIBRATION 

分 类 号：TN958.98[电子电信—信号与信息处理]