논문 해외 국제전문학술지(SCI급) Structure-From-Motion in 3D Space Using 2D Lidars
- 학술지 구분 국제전문학술지(SCI급)
- 게재년월 2017-02
- 저자명 최동걸
- 학술지명 SENSORS
- 발행처명 MDPI AG
- 발행국가 해외
- 논문언어 외국어
- 전체저자수 2
홈페이지논문 초록 (Abstract)
This paper presents a novel structure-from-motion methodology using 2D lidars ( Light Detection And Ranging). In 3D space, 2D lidars do not provide sufficient information for pose estimation. For this reason, additional sensors have been used along with the lidar measurement. In this paper, we use a sensor system that consists of only 2D lidars, without any additional sensors. We propose a new method of estimating both the 6D pose of the system and the surrounding 3D structures. We compute the pose of the system using line segments of scan data and their corresponding planes. After discarding the outliers, both the pose and the 3D structures are refined via nonlinear optimization. Experiments with both synthetic and real data show the accuracy and robustness of the proposed method.