控制与信息技术Issue(1)：94-101,8.DOI:10.13889/j.issn.2096-5427.2024.01.013
一种基于LiDAR-IMU-GNSS系统同步进行车辆定位和路旁杆状物清查的方法
A Method of Simultaneous Vehicle Localization and Roadside Pole-shaped Object Inventory Creation Based on Integrated LiDAR-IMU-GNSS System
摘要
Abstract
At present,the use of mobile LiDAR systems(MLS)to collect environmental information and generate roadside pole-shaped object inventories is limited by equipment costs and has poor real-time performance.Although LiDAR-based simultaneous localization and mapping(SLAM)techniques have been widely applied in the navigation field,research on simultaneous real-time localization and creation of roadside pole-shaped object inventories remains absent.In this regard,this paper proposes an approach that utilizes LiDAR technology to achieve vehicle localization and create roadside pole-shaped object inventories complete with absolute locations.The aim is to devise an accurate and robust system for vehicle localization and the creation of roadside pole-shaped object inventories.Firstly,LiDAR was integrated with inertial measurement units(IMU)and global navigation satellite system(GNSS),to achieve accurate pose estimations and simultaneous generation of global maps.Secondly,an optimized fusion positioning algorithm based on sliding windows is constructed,to enhance system robustness through effectively integrating data from multiple sensors.Then,a method for creating pole-shaped object inventories is proposed using an SLAM feature extraction algorithm,thereby reducing the computational expense for simultaneous vehicle positioning and roadside pole-shaped object inventory creation.Finally,extensive evaluations are conducted using real datasets covering various road scenarios,including urban and suburban areas.The experimental results demonstrated the centimeter-level vehicle positioning accuracy of the proposed system in real-time automatic creation of roadside pole-shaped object inventories,boasting an average positioning error within 3 cm.关键词
自动驾驶系统/路旁杆状物清查/多传感器融合/定位与建图/道路安全/激光雷达技术Key words
autonomous driving system/roadside pole-shaped object inventory/multi-sensor fuse/localization and mapping/road safety/LiDAR technology分类
信息技术与安全科学引用本文复制引用
袁超,潘文波,陈志伟,黄文宇,李源征宇,杨振宇..一种基于LiDAR-IMU-GNSS系统同步进行车辆定位和路旁杆状物清查的方法[J].控制与信息技术,2024,(1):94-101,8.基金项目
国家重点研发项目(2022YFB4300400) （2022YFB4300400）
