Loop-closure and map-combiner detection is very important to robustly enable applying SLAM technology and generate high-definition maps in level of cities and prefectures. In addition, the detection process paves the way to evaluate the map quality at the revisited areas in terms of relative and global position errors. Accordingly, this paper proposes a unique framework for precisely detecting loop-closure and map-combiner events regardless to the driving trajectory, the vehicle sensor configurations and the environment structure. A very challenging environment including long underground tunnel and multilayer junction has been selected to emphasize the reliability, scalability and robustness of the proposed framework. The experimental results have verified the capability to detect the map-combiner events precisely even-though with the existence of a considerable low positioning accuracy by a GNSS/INS-RTK system.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Loop-Closure and Map-Combiner Detection Strategy based on LIDAR Reflectance and Elevation Maps


    Beteiligte:
    Aldibaja, Mohammad (Autor:in) / Suganuma, Naoki (Autor:in) / Yanase, Ryo (Autor:in) / Cao, Lu (Autor:in) / Yoneda, Keisuke (Autor:in) / Kuramoto, Akisue (Autor:in)


    Erscheinungsdatum :

    20.09.2020


    Format / Umfang :

    1200481 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Feature-Based Loop Closure Detection and Optimization for LiDAR Mapping

    Qin, Bingjia / Yu, Chunlei / Yang, Diange et al. | SAE Technical Papers | 2020


    Feature-Based Loop Closure Detection and Optimization for LiDAR Mapping

    Jiang, Kun / Zhang, Xiaolong / Qin, Bingjia et al. | British Library Conference Proceedings | 2020


    LIDAR Based Altitude Estimation for Autonomous Vehicles using Elevation Maps

    Yanase, Ryo / Aldibaja, Mohammad / Kuramoto, Akisue et al. | IEEE | 2018


    LIDAR BASED ALTITUDE ESTIMATION FOR AUTONOMOUS VEHICLES USING ELEVATION MAPS

    Yanase, Ryo / Aldibaja, Mohammad / Kuramoto, Akisue et al. | British Library Conference Proceedings | 2018


    LLOAM: LiDAR Odometry and Mapping with Loop-closure Detection Based Correction

    Ji, Xingliang / Zuo, Lin / Zhang, Changhua et al. | British Library Conference Proceedings | 2019