IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Development of 3D Point Cloud Mapping System Using 2D LiDAR and Commercial Visual-inertial Odometry Sensor

2차원 라이다와 상업용 영상-관성 기반 주행 거리 기록계를 이용한 3차원 점 구름 지도 작성 시스템 개발

  • Received : 2020.12.23
  • Accepted : 2021.04.14
  • Published : 2021.06.30
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Abstract

A 3D point cloud map is an essential elements in various fields, including precise autonomous navigation system. However, generating a 3D point cloud map using a single sensor has limitations due to the price of expensive sensor. In order to solve this problem, we propose a precise 3D mapping system using low-cost sensor fusion. Generating a point cloud map requires the process of estimating the current position and attitude, and describing the surrounding environment. In this paper, we utilized a commercial visual-inertial odometry sensor to estimate the current position and attitude states. Based on the state value, the 2D LiDAR measurement values describe the surrounding environment to create a point cloud map. To analyze the performance of the proposed algorithm, we compared the performance of the proposed algorithm and the 3D LiDAR-based SLAM (simultaneous localization and mapping) algorithm. As a result, it was confirmed that a precise 3D point cloud map can be generated with the low-cost sensor fusion system proposed in this paper.

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Acknowledgement

본 연구는 산업통상자원부와 한국산업기술진흥원의 "지역혁신클러스터육성사업(R&D, P0002073)"으로 수행된 연구결과입니다.

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