Integrering av IMU och Velodyne LiDAR i en ICP-SLAM struktur

1 Introduction 1 1.1 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1.1 Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2 Related work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2.1 SLAM process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2.2 Point cloud registration . . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2 Theory 5 2.1 Point Cloud Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2.1.1 Iterative Closest Point . . . . . . . . . . . . . . . . . . . . . . . . 5 2.1.2 Generalized ICP . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2.2 The Kalman lter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.2.1 Correction by IMU observation . . . . . . . . . . . . . . . . . . . 11 2.2.2 Correction by point cloud registration . . . . . . . . . . . . . . . . 12 2.3 Modied GICP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.4 Sequence optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.4.1 Sequence solution method . . . . . . . . . . . . . . . . . . . . . . 17

3 Methods and Implementation 19 3.1 Experimental setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.1.1 3D Scanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.1.2 Forest (Backpack) . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.1.3 Urban (Car) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.1.4 Countryside (Aerial) . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.2 Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3.2.1 Test data 1: Forest . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.2.2 Test data 2,3: Urban . . . . . . . . . . . . . . . . . . . . . . . . . 23 3.2.3 Test data 4: Countryside . . . . . . . . . . . . . . . . . . . . . . . 27 3.3 GICP-SLAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.3.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.3.2 State estimation and update . . . . . . . . . . . . . . . . . . . . . 29 3.3.3 Point cloud registration . . . . . . . . . . . . . . . . . . . . . . . 29 3.3.4 Sequence optimization . . . . . . . . . . . . . . . . . . . . . . . . 31

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