災害対応のための空中・地上ロボットの3D位置合わせ：特徴量・記述子・変換推定の評価
3D Registration of Aerial and Ground Robots for Disaster Response: An Evaluation of Features, Descriptors, and Transformation Estimation
災害現場でUGVのLiDAR点群とUAVの視覚点群をグローバル位置合わせする手法を、特徴量・記述子・変換推定の組み合わせごとに比較評価した。
著者: Abel Gawel, Renaud Dubé, Hartmut Surmann, Juan Nieto, Roland Siegwart, Cesar Cadena
分類: cs.RO
原文アブストラクト
Global registration of heterogeneous ground and aerial mapping data is a challenging task. This is especially difficult in disaster response scenarios when we have no prior information on the environment and cannot assume the regular order of man-made environments or meaningful semantic cues. In this work we extensively evaluate different approaches to globally register UGV generated 3D point-cloud data from LiDAR sensors with UAV generated point-cloud maps from vision sensors. The approaches are realizations of different selections for: a) local features: key-points or segments; b) descriptors: FPFH, SHOT, or ESF; and c) transformation estimations: RANSAC or FGR. Additionally, we compare the results against standard approaches like applying ICP after a good prior transformation has been given. The evaluation criteria include the distance which a UGV needs to travel to successfully localize, the registration error, and the computational cost. In this context, we report our findings on effectively performing the task on two new Search and Rescue datasets. Our results have the potential to help the community take informed decisions when registering point-cloud maps from ground robots to those from aerial robots.
