LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance
As one of the automated guided vehicle (AGV) positioning methods, the LiDAR positioning method, based on artificial landmarks, has been widely used in warehousing logistics industries in recent years. However, the traditional LiDAR positioning method based on artificial landmarks mainly depends on t...
Guardado en:
Autores principales: | , , , |
---|---|
Formato: | article |
Lenguaje: | EN |
Publicado: |
MDPI AG
2021
|
Materias: | |
Acceso en línea: | https://doaj.org/article/00941b1fecd147b2b2d31fbff38b51e5 |
Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
id |
oai:doaj.org-article:00941b1fecd147b2b2d31fbff38b51e5 |
---|---|
record_format |
dspace |
spelling |
oai:doaj.org-article:00941b1fecd147b2b2d31fbff38b51e52021-11-11T19:08:23ZLiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance10.3390/s212171411424-8220https://doaj.org/article/00941b1fecd147b2b2d31fbff38b51e52021-10-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7141https://doaj.org/toc/1424-8220As one of the automated guided vehicle (AGV) positioning methods, the LiDAR positioning method, based on artificial landmarks, has been widely used in warehousing logistics industries in recent years. However, the traditional LiDAR positioning method based on artificial landmarks mainly depends on the three-point positioning method, the performance of which is limited due to landmarks’ layout and detection requirements. This paper proposes a LiDAR positioning algorithm based on iterative closest point (ICP) and artificial landmarks assistance. It provides improvements based on the traditional ICP algorithm. The result of positioning provided by the landmarks is used as the initial iteration ICP value. The combination of the ICP algorithm and landmarks enables the positioning algorithm to maintain a certain positioning precision when landmark detection is disturbed. By comparing the proposed algorithm with the positioning scheme developed by SICK in Germany, we prove that the combination of the ICP algorithm and landmarks can effectively improve the robustness under the premise of ensuring precision.Qingxi ZengYuchao KanXiaodong TaoYixuan HuMDPI AGarticlelandmarks detectionICP with landmarksreflector matchingChemical technologyTP1-1185ENSensors, Vol 21, Iss 7141, p 7141 (2021) |
institution |
DOAJ |
collection |
DOAJ |
language |
EN |
topic |
landmarks detection ICP with landmarks reflector matching Chemical technology TP1-1185 |
spellingShingle |
landmarks detection ICP with landmarks reflector matching Chemical technology TP1-1185 Qingxi Zeng Yuchao Kan Xiaodong Tao Yixuan Hu LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance |
description |
As one of the automated guided vehicle (AGV) positioning methods, the LiDAR positioning method, based on artificial landmarks, has been widely used in warehousing logistics industries in recent years. However, the traditional LiDAR positioning method based on artificial landmarks mainly depends on the three-point positioning method, the performance of which is limited due to landmarks’ layout and detection requirements. This paper proposes a LiDAR positioning algorithm based on iterative closest point (ICP) and artificial landmarks assistance. It provides improvements based on the traditional ICP algorithm. The result of positioning provided by the landmarks is used as the initial iteration ICP value. The combination of the ICP algorithm and landmarks enables the positioning algorithm to maintain a certain positioning precision when landmark detection is disturbed. By comparing the proposed algorithm with the positioning scheme developed by SICK in Germany, we prove that the combination of the ICP algorithm and landmarks can effectively improve the robustness under the premise of ensuring precision. |
format |
article |
author |
Qingxi Zeng Yuchao Kan Xiaodong Tao Yixuan Hu |
author_facet |
Qingxi Zeng Yuchao Kan Xiaodong Tao Yixuan Hu |
author_sort |
Qingxi Zeng |
title |
LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance |
title_short |
LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance |
title_full |
LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance |
title_fullStr |
LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance |
title_full_unstemmed |
LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance |
title_sort |
lidar positioning algorithm based on icp and artificial landmarks assistance |
publisher |
MDPI AG |
publishDate |
2021 |
url |
https://doaj.org/article/00941b1fecd147b2b2d31fbff38b51e5 |
work_keys_str_mv |
AT qingxizeng lidarpositioningalgorithmbasedonicpandartificiallandmarksassistance AT yuchaokan lidarpositioningalgorithmbasedonicpandartificiallandmarksassistance AT xiaodongtao lidarpositioningalgorithmbasedonicpandartificiallandmarksassistance AT yixuanhu lidarpositioningalgorithmbasedonicpandartificiallandmarksassistance |
_version_ |
1718431565964378112 |