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...

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Autores principales: Qingxi Zeng, Yuchao Kan, Xiaodong Tao, Yixuan Hu
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Lenguaje:EN
Publicado: MDPI AG 2021
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Acceso en línea:https://doaj.org/article/00941b1fecd147b2b2d31fbff38b51e5
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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
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