A Self-Calibrating 3D Ground-Truth Localization System Using Retroreflective Landmarks
In this paper, we present an infrastructure-based ground-truth localization system suitable for deployment in large worksite environments. In particular, the system is lowcost, simple-to-deploy, and is able to provide full six-degreeof- freedom relative localization for three-dimensional laser scanners with centimetre-level accuracy in translation, and halfdegree accuracy in orientation. This system utilizes common laser scanner hardware, and exploits the fact that retroreflective material is easily identified based on the return intensity. This enables the use of simple rectangular signs placed around the scene as landmarks. An uncertainty model is presented that accounts for the shape of the landmarks, and a batch alignment algorithm is formulated that efficiently considers the structure of the problem. Lastly, characterization of the accuracy of the system is provided through small-scale testing in an indoor lab, and examples for a large-scale setup.
Chi Hay Tong Timothy D. Barfoot
University of Toronto Institute for Aerospace Studies,Toronto,Ontario,M3H 5T6,Canada
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3601-3606
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）