Distortion Correction of Laser Scan Data from In-vehicle Laser Scanner based on Kalman Filter and NDT Scan Matching

Kimiaki Inui, Masahide Morikawa, Masafumi Hashimoto, Kazuhiko Takahashi

Abstract

This paper presents a Kalman-filter-based method of correcting distortion in 3D laser-scan data from in-vehicle multilayer laser scanner. A robot identifies its own 3D pose (position and attitude) in a laser-scan period using the normal-distributions transform (NDT) scan-matching method. Based on the pose information, the robot’s pose is predicted and smoothed in a period shorter than the scan period using Kalman filter under the assumption that the robot moves at nearly constant linear and turning velocities. The predicted and smoothed poses of the robot are applied to map laser-scan data onto a world coordinate frame. Subsequently, the robot again identifies its own 3D pose from the mapped scan data using NDT scan matching. This iterative process enables the robot to correct the distortion of laser-scan data and accurately map the laser-scan data onto the world coordinate frame. Experimental results of mapping a signal light in a road environment validate the proposed method.

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Paper Citation


in Harvard Style

Inui K., Morikawa M., Hashimoto M. and Takahashi K. (2017). Distortion Correction of Laser Scan Data from In-vehicle Laser Scanner based on Kalman Filter and NDT Scan Matching . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 329-334. DOI: 10.5220/0006422303290334


in Bibtex Style

@conference{icinco17,
author={Kimiaki Inui and Masahide Morikawa and Masafumi Hashimoto and Kazuhiko Takahashi},
title={Distortion Correction of Laser Scan Data from In-vehicle Laser Scanner based on Kalman Filter and NDT Scan Matching},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={329-334},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006422303290334},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Distortion Correction of Laser Scan Data from In-vehicle Laser Scanner based on Kalman Filter and NDT Scan Matching
SN - 978-989-758-264-6
AU - Inui K.
AU - Morikawa M.
AU - Hashimoto M.
AU - Takahashi K.
PY - 2017
SP - 329
EP - 334
DO - 10.5220/0006422303290334