Enhancing Off-Road Topography Estimation by Fusing LIDAR and Stereo Camera Data with Interpolated Ground Plane
Topography estimation is essential for autonomous off-road navigation. Common methods rely on point cloud data from, e.g., Light Detection and Ranging sensors (LIDARs) and stereo cameras. Stereo cameras produce dense point clouds with larger coverage but lower accuracy. LIDARs, on the other hand, ha...
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MDPI AG
2025-01-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/2/509 |
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| author | Gustav Sten Lei Feng Björn Möller |
| author_facet | Gustav Sten Lei Feng Björn Möller |
| author_sort | Gustav Sten |
| collection | DOAJ |
| description | Topography estimation is essential for autonomous off-road navigation. Common methods rely on point cloud data from, e.g., Light Detection and Ranging sensors (LIDARs) and stereo cameras. Stereo cameras produce dense point clouds with larger coverage but lower accuracy. LIDARs, on the other hand, have higher accuracy and longer range but much less coverage. LIDARs are also more expensive. The research question examines whether incorporating LIDARs can significantly improve stereo camera accuracy. Current sensor fusion methods use LIDARs’ raw measurements directly; thus, the improvement in estimation accuracy is limited to only LIDAR-scanned locations The main contribution of our new method is to construct a reference ground plane through the interpolation of LIDAR data so that the interpolated maps have similar coverage as the stereo camera’s point cloud. The interpolated maps are fused with the stereo camera point cloud via Kalman filters to improve a larger section of the topography map. The method is tested in three environments: controlled indoor, semi-controlled outdoor, and unstructured terrain. Compared to the existing method without LIDAR interpolation, the proposed approach reduces average error by 40% in the controlled environment and 67% in the semi-controlled environment, while maintaining large coverage. The unstructured environment evaluation confirms its corrective impact. |
| format | Article |
| id | doaj-art-aa7ea2705897487db52aa8856433a14c |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-aa7ea2705897487db52aa8856433a14c2025-01-24T13:49:11ZengMDPI AGSensors1424-82202025-01-0125250910.3390/s25020509Enhancing Off-Road Topography Estimation by Fusing LIDAR and Stereo Camera Data with Interpolated Ground PlaneGustav Sten0Lei Feng1Björn Möller2Engineering Design, KTH Royal Institute of Technology, SE-100 44 Stockholm, SwedenEngineering Design, KTH Royal Institute of Technology, SE-100 44 Stockholm, SwedenEngineering Design, KTH Royal Institute of Technology, SE-100 44 Stockholm, SwedenTopography estimation is essential for autonomous off-road navigation. Common methods rely on point cloud data from, e.g., Light Detection and Ranging sensors (LIDARs) and stereo cameras. Stereo cameras produce dense point clouds with larger coverage but lower accuracy. LIDARs, on the other hand, have higher accuracy and longer range but much less coverage. LIDARs are also more expensive. The research question examines whether incorporating LIDARs can significantly improve stereo camera accuracy. Current sensor fusion methods use LIDARs’ raw measurements directly; thus, the improvement in estimation accuracy is limited to only LIDAR-scanned locations The main contribution of our new method is to construct a reference ground plane through the interpolation of LIDAR data so that the interpolated maps have similar coverage as the stereo camera’s point cloud. The interpolated maps are fused with the stereo camera point cloud via Kalman filters to improve a larger section of the topography map. The method is tested in three environments: controlled indoor, semi-controlled outdoor, and unstructured terrain. Compared to the existing method without LIDAR interpolation, the proposed approach reduces average error by 40% in the controlled environment and 67% in the semi-controlled environment, while maintaining large coverage. The unstructured environment evaluation confirms its corrective impact.https://www.mdpi.com/1424-8220/25/2/509sensor-fusiontopography estimationground interpolationKalman filteroff-road navigation |
| spellingShingle | Gustav Sten Lei Feng Björn Möller Enhancing Off-Road Topography Estimation by Fusing LIDAR and Stereo Camera Data with Interpolated Ground Plane Sensors sensor-fusion topography estimation ground interpolation Kalman filter off-road navigation |
| title | Enhancing Off-Road Topography Estimation by Fusing LIDAR and Stereo Camera Data with Interpolated Ground Plane |
| title_full | Enhancing Off-Road Topography Estimation by Fusing LIDAR and Stereo Camera Data with Interpolated Ground Plane |
| title_fullStr | Enhancing Off-Road Topography Estimation by Fusing LIDAR and Stereo Camera Data with Interpolated Ground Plane |
| title_full_unstemmed | Enhancing Off-Road Topography Estimation by Fusing LIDAR and Stereo Camera Data with Interpolated Ground Plane |
| title_short | Enhancing Off-Road Topography Estimation by Fusing LIDAR and Stereo Camera Data with Interpolated Ground Plane |
| title_sort | enhancing off road topography estimation by fusing lidar and stereo camera data with interpolated ground plane |
| topic | sensor-fusion topography estimation ground interpolation Kalman filter off-road navigation |
| url | https://www.mdpi.com/1424-8220/25/2/509 |
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