精密工学会誌
Online ISSN : 1882-675X
Print ISSN : 0912-0289
ISSN-L : 0912-0289
論文
画像特徴点の対応を制約とした疎なLiDAR点群からのOdometry推定
―ガウス過程回帰による深度推定とその信頼度を考慮したOdometry推定―
清水 政行川西 康友出口 大輔井手 一郎村瀬 洋
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2021 年 87 巻 5 号 p. 447-454

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Estimation of translation between consecutive frames, i.e., odometry, plays an important role in autonomous navigation. This paper presents an odometry estimation method using sparse LiDAR points and image feature points. In case of sparse LiDAR measurements, it is difficult to accurately estimate depth at image feature points. Image feature points with low-accuracy depth cause misconvergence in odometry optimization. To improve the robustness to the misconvergence, a new method with a Gaussian process that estimates not only the depth at image feature points but also the variance is proposed. By using this variance, it estimates the residual of image features in the world coordinate with depth, or in the image coordinate without depth. This allows more accurate and robust estimation than conventional methods in case of sparse LiDAR points. In an experiment with simulated sparse LiDAR points from the KITTI dataset, the proposed method is confirmed to estimate the odometry more accurately than conventional methods.

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