連続波LIDARの物理ベースシミュレーションによる自己位置推定・キャリブレーション・追跡
Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking
表面と光の相互作用を考慮した2D連続波LIDARの物理モデルを構築し、自動微分による勾配最適化で実センサ測定からパラメータを推定した研究。
著者: Eric Heiden, Ziang Liu, Ragesh K. Ramachandran, Gaurav S. Sukhatme
分類: cs.CV, cs.RO
原文アブストラクト
Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines with depth measurements of the environment. While their accuracy outperforms other types of depth sensors, such as stereo or time-of-flight cameras, the accurate modeling of LIDAR sensors requires laborious manual calibration that typically does not take into account the interaction of laser light with different surface types, incidence angles and other phenomena that significantly influence measurements. In this work, we introduce a physically plausible model of a 2D continuous-wave LIDAR that accounts for the surface-light interactions and simulates the measurement process in the Hokuyo URG-04LX LIDAR. Through automatic differentiation, we employ gradient-based optimization to estimate model parameters from real sensor measurements.
