A Robust and Efficient 3D LADAR Odometer with Outlier Detection

A Robust and Efficient 3D LADAR Odometer with Outlier Detection

This paper discusses the estimation algorithms for Three-Dimensional (3D) displacement and 3D rotation using Two-Dimensional (2D) laser scanners. An efficient outlier detection method is proposed for both algorithms to help protect the integrity of navigation. The algorithms have been evaluated usin...

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Veröffentlicht in:Journal of navigation 2018-03, Vol.71 (2), p.317-338
Hauptverfasser: Zhu, Zhen, Uijt de Haag, Maarten
Format: Artikel
Sprache:eng
Schlagworte:
Algorithms
Automation
Computer science
Computer simulation
Data analysis
Detection
Indoor environments
Lasers
Lidar
Localization
Navigation
Navigation systems
Odometers
Outliers (statistics)
Parameter estimation
Robotics
Robustness (mathematics)
Rotation
Scanners
Unmanned aerial vehicles
Unmanned aircraft
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Beschreibung
Zusammenfassung:This paper discusses the estimation algorithms for Three-Dimensional (3D) displacement and 3D rotation using Two-Dimensional (2D) laser scanners. An efficient outlier detection method is proposed for both algorithms to help protect the integrity of navigation. The algorithms have been evaluated using both simulation and field test results. They are able to produce a robust odometry solution for an autonomous aircraft in an indoor environment.
ISSN:0373-4633
1469-7785
DOI:10.1017/S0373463317000704