強度画像を用いたLiDARフィデューシャルマーカーシステム
Intensity Image-based LiDAR Fiducial Marker System
強度付き非構造点群から強度画像を介して3Dマーカーを検出し、LiDARの6自由度姿勢をリアルタイム推定するシステムを開発した。
著者: Yibo Liu, Hunter Schofield, Jinjun Shan
分類: cs.RO, cs.CV, eess.IV
原文アブストラクト
The fiducial marker system for LiDAR is crucial for the robotic application but it is still rare to date. In this paper, an Intensity Image-based LiDAR Fiducial Marker (IILFM) system is developed. This system only requires an unstructured point cloud with intensity as the input and it has no restriction on marker placement and shape. A marker detection method that locates the predefined 3D fiducials in the point cloud through the intensity image is introduced. Then, an approach that utilizes the detected 3D fiducials to estimate the LiDAR 6-DOF pose that describes the transmission from the world coordinate system to the LiDAR coordinate system is developed. Moreover, all these processes run in real-time (approx 40 Hz on Livox Mid-40 and approx 143 Hz on VLP-16). Qualitative and quantitative experiments are conducted to demonstrate that the proposed system has similar convenience and accuracy as the conventional visual fiducial marker system. The codes and results are available at: https://github.com/York-SDCNLab/IILFM.
