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Publication Details

Collar Line Segments for Fast Odometry Estimation from Velodyne Point Clouds

VEĽAS Martin, ŠPANĚL Michal and HEROUT Adam. Collar Line Segments for Fast Odometry Estimation from Velodyne Point Clouds. In: Proceedings of IEEE International Conference on Robotics and Automation. Stockholm: IEEE Computer Society, 2016, pp. 4486-4491. ISBN 978-1-4673-8025-6. Available from: http://ieeexplore.ieee.org/document/7487648/
Czech title
Rychlý výpočet odometrie z mračna bodů pro Velodyne LiDAR pomocí liniových segmentů
Type
conference paper
Language
english
Authors
URL
Keywords
Velodyne LiDAR, point cloud registration, odometry estimation, collar line segments, ICP, generalized ICP, SLAM
Abstract
We present a novel way of odometry estimation from Velodyne LiDAR point cloud scans. The aim of our work is to overcome the most painful issues of Velodyne data - the sparsity and the quantity of data points - in an efficient way, enabling more precise registration. Alignment of the point clouds which yields the final odometry is based on random sampling of the clouds using Collar Line Segments. The closest line segment pairs are identified in two sets of line segments obtained from two consequent Velodyne scans. From each pair of correspondences,  a transformation aligning the matched line segments into a 3D plane is estimated. By this, significant planes (ground, walls, ...) are preserved among aligned point clouds.
Evaluation using the KITTI dataset shows that our method outperforms publicly available and commonly used state-of-the-art method GICP for point cloud registration in both accuracy and speed, especially in cases where the scene lacks significant landmarks or in typical urban elements. For such environments, the registration error of our method  is reduced by 75% compared to the original GICP error.
Published
2016
Pages
4486-4491
Proceedings
Proceedings of IEEE International Conference on Robotics and Automation
Conference
IEEE International Conference on Robotics and Automation, Stockholm, SE
ISBN
978-1-4673-8025-6
Publisher
IEEE Computer Society
Place
Stockholm, SE
DOI
BibTeX
@INPROCEEDINGS{FITPUB10960,
   author = "Martin Ve\'{l}as and Michal \v{S}pan\v{e}l and Adam Herout",
   title = "Collar Line Segments for Fast Odometry Estimation from Velodyne Point Clouds",
   pages = "4486--4491",
   booktitle = "Proceedings of IEEE International Conference on Robotics and Automation",
   year = 2016,
   location = "Stockholm, SE",
   publisher = "IEEE Computer Society",
   ISBN = "978-1-4673-8025-6",
   doi = "10.1109/ICRA.2016.7487648",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/10960"
}
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