A Method of Simultaneous Vehicle Localization and Roadside Pole-shaped Object Inventory Creation Based on Integrated LiDAR-IMU-GNSS System
At present, the use of mobile LiDAR systems (MLS) to collect environmental information and generate roadside pole-shaped object inventories is limited by equipment costs and has poor real-time performance. Although LiDAR-based simultaneous localization and mapping (SLAM) techniques have been widely...
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| Format: | Article |
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Editorial Office of Control and Information Technology
2024-02-01
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| Series: | Kongzhi Yu Xinxi Jishu |
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| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2024.01.013 |
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| author | YUAN Chao PAN Wenbo CHEN Zhiwei HUANG Wenyu LI Yuanzhengyu YANG Zhenyu |
| author_facet | YUAN Chao PAN Wenbo CHEN Zhiwei HUANG Wenyu LI Yuanzhengyu YANG Zhenyu |
| author_sort | YUAN Chao |
| collection | DOAJ |
| description | At present, the use of mobile LiDAR systems (MLS) to collect environmental information and generate roadside pole-shaped object inventories is limited by equipment costs and has poor real-time performance. Although LiDAR-based simultaneous localization and mapping (SLAM) techniques have been widely applied in the navigation field, research on simultaneous real-time localization and creation of roadside pole-shaped object inventories remains absent. In this regard, this paper proposes an approach that utilizes LiDAR technology to achieve vehicle localization and create roadside pole-shaped object inventories complete with absolute locations. The aim is to devise an accurate and robust system for vehicle localization and the creation of roadside pole-shaped object inventories. Firstly, LiDAR was integrated with inertial measurement units (IMU) and global navigation satellite system (GNSS), to achieve accurate pose estimations and simultaneous generation of global maps. Secondly, an optimized fusion positioning algorithm based on sliding windows is constructed, to enhance system robustness through effectively integrating data from multiple sensors. Then, a method for creating pole-shaped object inventories is proposed using an SLAM feature extraction algorithm, thereby reducing the computational expense for simultaneous vehicle positioning and roadside pole-shaped object inventory creation. Finally, extensive evaluations are conducted using real datasets covering various road scenarios, including urban and suburban areas. The experimental results demonstrated the centimeter-level vehicle positioning accuracy of the proposed system in real-time automatic creation of roadside pole-shaped object inventories, boasting an average positioning error within 3 cm. |
| format | Article |
| id | doaj-art-c1f024de6bba4f02abdcfb4c8cf1dc73 |
| institution | Kabale University |
| issn | 2096-5427 |
| language | zho |
| publishDate | 2024-02-01 |
| publisher | Editorial Office of Control and Information Technology |
| record_format | Article |
| series | Kongzhi Yu Xinxi Jishu |
| spelling | doaj-art-c1f024de6bba4f02abdcfb4c8cf1dc732025-08-25T06:48:22ZzhoEditorial Office of Control and Information TechnologyKongzhi Yu Xinxi Jishu2096-54272024-02-019410150104387A Method of Simultaneous Vehicle Localization and Roadside Pole-shaped Object Inventory Creation Based on Integrated LiDAR-IMU-GNSS SystemYUAN ChaoPAN WenboCHEN ZhiweiHUANG WenyuLI YuanzhengyuYANG ZhenyuAt present, the use of mobile LiDAR systems (MLS) to collect environmental information and generate roadside pole-shaped object inventories is limited by equipment costs and has poor real-time performance. Although LiDAR-based simultaneous localization and mapping (SLAM) techniques have been widely applied in the navigation field, research on simultaneous real-time localization and creation of roadside pole-shaped object inventories remains absent. In this regard, this paper proposes an approach that utilizes LiDAR technology to achieve vehicle localization and create roadside pole-shaped object inventories complete with absolute locations. The aim is to devise an accurate and robust system for vehicle localization and the creation of roadside pole-shaped object inventories. Firstly, LiDAR was integrated with inertial measurement units (IMU) and global navigation satellite system (GNSS), to achieve accurate pose estimations and simultaneous generation of global maps. Secondly, an optimized fusion positioning algorithm based on sliding windows is constructed, to enhance system robustness through effectively integrating data from multiple sensors. Then, a method for creating pole-shaped object inventories is proposed using an SLAM feature extraction algorithm, thereby reducing the computational expense for simultaneous vehicle positioning and roadside pole-shaped object inventory creation. Finally, extensive evaluations are conducted using real datasets covering various road scenarios, including urban and suburban areas. The experimental results demonstrated the centimeter-level vehicle positioning accuracy of the proposed system in real-time automatic creation of roadside pole-shaped object inventories, boasting an average positioning error within 3 cm.http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2024.01.013autonomous driving systemroadside pole-shaped object inventorymulti-sensor fuselocalization and mappingroad safetyLiDAR technology |
| spellingShingle | YUAN Chao PAN Wenbo CHEN Zhiwei HUANG Wenyu LI Yuanzhengyu YANG Zhenyu A Method of Simultaneous Vehicle Localization and Roadside Pole-shaped Object Inventory Creation Based on Integrated LiDAR-IMU-GNSS System Kongzhi Yu Xinxi Jishu autonomous driving system roadside pole-shaped object inventory multi-sensor fuse localization and mapping road safety LiDAR technology |
| title | A Method of Simultaneous Vehicle Localization and Roadside Pole-shaped Object Inventory Creation Based on Integrated LiDAR-IMU-GNSS System |
| title_full | A Method of Simultaneous Vehicle Localization and Roadside Pole-shaped Object Inventory Creation Based on Integrated LiDAR-IMU-GNSS System |
| title_fullStr | A Method of Simultaneous Vehicle Localization and Roadside Pole-shaped Object Inventory Creation Based on Integrated LiDAR-IMU-GNSS System |
| title_full_unstemmed | A Method of Simultaneous Vehicle Localization and Roadside Pole-shaped Object Inventory Creation Based on Integrated LiDAR-IMU-GNSS System |
| title_short | A Method of Simultaneous Vehicle Localization and Roadside Pole-shaped Object Inventory Creation Based on Integrated LiDAR-IMU-GNSS System |
| title_sort | method of simultaneous vehicle localization and roadside pole shaped object inventory creation based on integrated lidar imu gnss system |
| topic | autonomous driving system roadside pole-shaped object inventory multi-sensor fuse localization and mapping road safety LiDAR technology |
| url | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2024.01.013 |
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