激光雷达
人工智能
计算机视觉
职位(财务)
点云
全球定位系统
测距
方向(向量空间)
遥感
校准
航位推算
定位系统
作者
Qingxi Zeng,Yuchao Kan,Xiaodong Tao,Hu Yixuan
出处
期刊:Sensors
[MDPI AG]
日期:2021-10-28
卷期号:21 (21): 7141-
被引量:1
摘要
As one of the automated guided vehicle (AGV) positioning methods, the LiDAR positioning method, based on artificial landmarks, has been widely used in warehousing logistics industries in recent years. However, the traditional LiDAR positioning method based on artificial landmarks mainly depends on the three-point positioning method, the performance of which is limited due to landmarks’ layout and detection requirements. This paper proposes a LiDAR positioning algorithm based on iterative closest point (ICP) and artificial landmarks assistance. It provides improvements based on the traditional ICP algorithm. The result of positioning provided by the landmarks is used as the initial iteration ICP value. The combination of the ICP algorithm and landmarks enables the positioning algorithm to maintain a certain positioning precision when landmark detection is disturbed. By comparing the proposed algorithm with the positioning scheme developed by SICK in Germany, we prove that the combination of the ICP algorithm and landmarks can effectively improve the robustness under the premise of ensuring precision.
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