Towards a Fully Automated 3D Reconstruction System Based on LiDAR and GNSS in Challenging Scenarios

Remote Sensing

Pengji Wang¹  Ruike Ren²  Zhenping Sun²  Hao Fu²  Hanzhang Xue²  Kai Ding³ 

[1] Beijing Institute of Control Engineering, Beijing 100081, China;College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China;Science and Technology on Near-Surface Detection Laboratory, Wuxi 214000, China;

关键词: 3D reconstruction;    LiDAR;    GNSS;    scan matching;    factor graph;    degeneracy-aware factors;   

DOI  :  10.3390/rs13101981

来源: DOAJ

【 摘 要 】

High-precision 3D maps play an important role in autonomous driving. The current mapping system performs well in most circumstances. However, it still encounters difficulties in the case of the Global Navigation Satellite System (GNSS) signal blockage, when surrounded by too many moving objects, or when mapping a featureless environment. In these challenging scenarios, either the global navigation approach or the local navigation approach will degenerate. With the aim of developing a degeneracy-aware robust mapping system, this paper analyzes the possible degeneration states for different navigation sources and proposes a new degeneration indicator for the point cloud registration algorithm. The proposed degeneracy indicator could then be seamlessly integrated into the factor graph-based mapping framework. Extensive experiments on real-world datasets demonstrate that the proposed 3D reconstruction system based on GNSS and Light Detection and Ranging (LiDAR) sensors can map challenging scenarios with high precision.

【 授权许可】

Unknown