Maximum likelihood point cloud acquisition from a mobile platform

This paper describes an approach to acquire locally consistent range data scans from a moving sensor platform. Data from a vertically mounted rotating laser scanner and odometry position estimates are fused and used to estimate maximum likelihood point clouds. An estimation algorithm is applied to r...

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Bibliographic Details
Published in:	2009 International Conference on Advanced Robotics pp. 1 - 6
Main Authors:	Stoyanov, T., Lilienthal, A.J.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-06-2009
Subjects:	Actuators Cameras Clouds Computer and Systems Science Data acquisition Datalogi Information technology Informationsteknik Laser modes Maximum likelihood estimation Other information technology Robot sensing systems Robot vision systems Sensor phenomena and characterization TECHNOLOGY TEKNIKVETENSKAP Vehicles Övrig informationsteknik
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Summary:	This paper describes an approach to acquire locally consistent range data scans from a moving sensor platform. Data from a vertically mounted rotating laser scanner and odometry position estimates are fused and used to estimate maximum likelihood point clouds. An estimation algorithm is applied to reduce the accumulated error after a full rotation of the range finder. A configuration consisting of a SICK laser scanner mounted on a rotational actuator is described and used to evaluate the proposed approach. The data sets analyzed suggest a significant improvement in point cloud consistency, even over a short travel distance.
ISBN:	9781424448555 1424448557