Home // SENSORCOMM 2021, The Fifteenth International Conference on Sensor Technologies and Applications // View article
Authors:
Ryoga Takahashi
Masafumi Hashimoto
Kazuhiko Takahashi
Keywords: multi-vehicles; LiDAR; cooperative scan matching; relative pose estimation; FPFH; NDT scan mathcing.
Abstract:
This paper presents a relative pose estimation method for multiple vehicles that involves scan matching using Light Detection And Ranging (LiDAR) measurements captured from overlapping sensing areas of neighboring vehicles. Such Cooperative Scan Matching (CSM) can be used to Cooperative Moving-Object Tracking (CMOT) by vehicles in Global Navigation Satellite Systems (GNSS)-denied environments. Each vehicle is equipped with a LiDAR and detects static measurements originating from static objects, such as building walls and utility poles, from its own LiDAR scan images by applying an occupancy grid method. Each vehicle then obtains point feature histograms related to static features using Fast Point Feature Histograms (FPFH). The information related to LiDAR measurements and point feature histograms is sent to a central server. After the central server matches the environmental features obtained by the vehicles based on point feature histograms and estimates the relative pose of the vehicles by RAaNdom Sample Consensus (RANSAC) based coarse registration and Normal Distributions Transform (NDT) scan matching-based fine registration. Experimental results using two LiDAR-equipped vehicles in two road environments show that the proposed CSM has better applicability in urban environments with a high number of streets.
Pages: 1 to 7
Copyright: Copyright (c) IARIA, 2021
Publication date: November 14, 2021
Published in: conference
ISSN: 2308-4405
ISBN: 978-1-61208-917-1
Location: Athens, Greece
Dates: from November 14, 2021 to November 18, 2021