An Orthogonal Weighted Occupancy Likelihood Map with IMU-Aided Laser Scan Matching for 2D Indoor Map**
Abstract
:1. Introduction
2. Methods
2.1. Algorithm Overview
2.2. IMU-aided Scan-to-Map Matching
2.3. Orthogonal extraction by blurred segments
Algorithm 1: Pseudo-code of OBS extraction, where OBSs are parallel to x coordinate axe |
Requires: 1. Coordinates (x, y) of scan points 2. Width v of OBS 3. Minimum number n of points in OBS 4. Minimum length l of OBS, which is 1 in this paper 5. Maximum distance between the adjacent points in OBS Δxthreshold sort the scan points according to the y-coordinates in ascending order for each point with y-coordinates y collect the set of points in the y-coordinates between y and y + v end for Find the set with the maximum number N of points if N > n sort the set of points according to the x-coordinates in ascending order split the set if the adjacent x-coordinates Δx >Δxthreshold else exit the loop end if for each set if the length > l save this set of points remove the point from the scan points end if end for |
2.4. OWOLM Generation
3. Experimental Results
3.1. System overview
3.2. Results
4. Discussion
5. Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
References
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No. | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 |
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
residual_x | 5.8 | −1.8 | 2.5 | 2 | 1.4 | 1.9 | −12.5 | −0.6 | −1.6 | 2.9 | 1 | 0.3 | 1.3 | −8.5 | 6.2 | −1 | 3.5 | −2.7 |
residual_y | −1.5 | 0.1 | 1.5 | 0.4 | 2.2 | −4.7 | −6.7 | 0.3 | 1.7 | −1.1 | 0.5 | 1.5 | 2.6 | −7.4 | 14.5 | 1.8 | −6.2 | 0.7 |
residual | 6 | 1.8 | 2.9 | 2.1 | 2.6 | 5 | 14.2 | 0.7 | 2.3 | 3.1 | 1.1 | 1.6 | 2.9 | 11.3 | 15.7 | 2.1 | 7.2 | 2.8 |
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Qian, C.; Zhang, H.; Tang, J.; Li, B.; Liu, H. An Orthogonal Weighted Occupancy Likelihood Map with IMU-Aided Laser Scan Matching for 2D Indoor Map**. Sensors 2019, 19, 1742. https://doi.org/10.3390/s19071742
Qian C, Zhang H, Tang J, Li B, Liu H. An Orthogonal Weighted Occupancy Likelihood Map with IMU-Aided Laser Scan Matching for 2D Indoor Map**. Sensors. 2019; 19(7):1742. https://doi.org/10.3390/s19071742
Chicago/Turabian StyleQian, Chuang, Hongjuan Zhang, Jian Tang, Bijun Li, and Hui Liu. 2019. "An Orthogonal Weighted Occupancy Likelihood Map with IMU-Aided Laser Scan Matching for 2D Indoor Map**" Sensors 19, no. 7: 1742. https://doi.org/10.3390/s19071742