학술논문
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Robotics and Control Systems
Computing and Processing
Components, Circuits, Devices and Systems
Laser radar
Point cloud compression
Three-dimensional displays
Pose estimation
Image resolution
Fiducial markers
Visualization
Computer vision for automation
range sensing
object detection
segmentation and categorization
Intensity Image-Based LiDAR Fiducial Marker System
Document Type
Periodical
Author
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 7(3):6542-6549 Jul, 2022
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
The fiducial marker system for LiDAR is crucial for the robotic application but it is still rare to date. In this letter, an Intensity Image-based LiDAR Fiducial Marker (IILFM) system is developed. This system only requires an unstructured point cloud with intensity as the input and it has no restriction on marker placement and shape. A marker detection method that locates the predefined 3D fiducials in the point cloud through the intensity image is introduced. Then, an approach that utilizes the detected 3D fiducials to estimate the LiDAR 6-DOF pose that describes the transmission from the world coordinate system to the LiDAR coordinate system is developed. Moreover, all these processes run in real-time (approx 40 Hz on Livox Mid-40 and approx 143 Hz on VLP-16). Qualitative and quantitative experiments are conducted to demonstrate that the proposed system has similar convenience and accuracy as the conventional visual fiducial marker system.