Fusión de odometría LiDAR y GNSS mediante transformaciones relativas
-
1
Universitat d'Alacant
info
- Carlos Balaguer Bernaldo de Quirós (coord.)
- José Manuel Andújar Márquez (coord.)
- Ramon Costa Castelló (coord.)
- Carlos Ocampo Martínez (coord.)
- Jesús Fernández Lozano (coord.)
- Matilde Santos Peñas (coord.)
- José Enrique Simó Ten (coord.)
- Montserrat Gil Martínez (coord.)
- Jose Luis Calvo Rolle (coord.)
- Raúl Marín Prades (coord.)
- Eduardo Rocón de Lima (coord.)
- Elisabet Estévez Estévez (coord.)
- Pedro Jesús Cabrera Santana (coord.)
- David Muñoz de la Peña Sequedo (coord.)
- José Luis Guzmán Sánchez (coord.)
- José Luis Pitarch Pérez (coord.)
- Oscar Reinoso García (coord.)
- Oscar Déniz Suárez (coord.)
- Emilio Jiménez Macías (coord.)
- Vanesa Loureiro Vázquez (coord.)
Publisher: Servizo de Publicacións ; Universidade da Coruña
ISBN: 978-84-9749-841-8
Year of publication: 2022
Pages: 792-797
Congress: Jornadas de Automática (43. 2022. Logroño)
Type: Conference paper
Abstract
In this work, a method has been developed to avoid the error accumulations in LiDAR odometry and provide global consistency to it by fusion with a multi-GNSS system. The developed method estimates the relative transformation between the odometry coordinate frame and the map coordinate frame defined by the GNSS. By using the transformation estimation instead of a complete trajectory, the algorithm is highly light since the number of parameters to be estimated is reduced and constant over time, unlike those usually used in the state-of-the-art. The proposed method has been validated in the University of Alicante scientific park, which has been navigated autonomously for more than 20 km without accumulative errors.