Fiducial marker detection and pose estimation from LIDAR range data
Loading...
Authors
Morrison, Richard B.
Subjects
Advisors
Kolsch, Mathias
Chung, Timothy H.
Date of Issue
2010-03
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
Light Detection and Ranging (LIDAR) systems are three dimensional (3D) imaging sensors applied for mapping terrain, measuring structural dimensions, and navigating robots. Pulsed laser rangefinders provide precise range measurements that require an estimate of sensor pose for transformation into world coordinates. Pose information is frequently provided with extrinsic sources such as Global Positioning System (GPS) or an Inertial Measurement Unit (IMU). Unreliable signal availability for GPS in military environments and the high cost of IMUs limit the employment of these extrinsic sources. Determining pose intrinsically by detecting landmarks in the environment within the sensor data is more ideal. Fiducial markers with known geometric dimensions and orientation provide a means of estimating LIDAR pose and registering data. Presented is a method for landmark detection and pose estimation within range data. Cylinder, cone, and sphere geometries are assessed for use as fiducial markers. The detection algorithm extracts geometric features from LIDAR point data and tests for fit to a fiducial marker model. Geometric feature extraction compresses the data set and leads to a potential intrinsic registration method using environment and marks. The detection accuracy and pose estimation precision are examined with terrestrial LIDAR range data captured in various outdoor street environments.
Type
Thesis
Description
Series/Report No
NPS Outstanding Theses and Dissertations
Department
Computer Science
Modeling, Virtual Environment, and Simulation (MOVES)
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
xviii, 101 p. : col. ill. ;
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.