论文标题
基于强度图像的激光雷达基准标记系统
Intensity Image-based LiDAR Fiducial Marker System
论文作者
论文摘要
LIDAR的基准标记系统对于机器人应用至关重要，但至今仍然很少见。在本文中，开发了基于强度图像的激光雷达基准标记（IILFM）系统。该系统仅需要具有强度作为输入的非结构化点云，并且对标记放置和形状没有限制。引入了通过强度图像在点云中定位预定义的3D基准的标记检测方法。然后，一种利用检测到的3D基准物来估计的方法来估计雷达6-dof姿势，该姿势描述了从世界坐标系统到激光雷达坐标系的传播。此外，所有这些过程是实时运行的（在40中期的Livox上约40 Hz，在VLP-16上大约143 Hz）。进行定性和定量实验，以证明所提出的系统具有与常规视觉基准标记系统相似的便利性和准确性。代码和结果可在以下网址获得：https：//github.com/york-sdcnlab/iilfm。
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.
