This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
LiDAR Pose Estimation for Vehicle Safety Systems
Technical Paper
2010-01-0464
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
This paper presents a proof of concept for an algorithm to determine the attitude of a multi-layer laser rangefinder or LiDAR (Light Detection And Ranging) relative to a reference frame given the ability of the LiDAR to make measurements to a planar surface with sufficient and proper excitation. Due to the highly non-linear nature of the problem presented, weighted recursive least squares along with a high order unscented transform are used to obtain a final result which is capable of being extended to vehicle safety systems to provide a measurement of the roll and pitch of a vehicle relative to the road's surface with a high degree of accuracy.
Recommended Content
Authors
Citation
Britt, J. and Bevly, D., "LiDAR Pose Estimation for Vehicle Safety Systems," SAE Technical Paper 2010-01-0464, 2010, https://doi.org/10.4271/2010-01-0464.Also In
Intelligent Vehicle Initiative (IVI) Technology Advanced Controls and Navigation, 2010
Number: SP-2264; Published: 2010-04-13
Number: SP-2264; Published: 2010-04-13
References
- Fardi, B. Weigel, H. Wanielik, G. Takagi, K. “Road Border Recognition Using FIR Images and LIDAR Signal Processing,” IEEE Intelligent Vehicles Symposium June 2007
- Pothou, A. Toth, C. Karamitos, S. Georgopoulos, A. “On Using QA/QC Techniques for LIDAR-IMU Boresight Misalignment,” The 5th International Symposium on Mobile Mapping Technology 2007
- Antone, M. Friedman, Y. “Fully Automated Laser Range Calibration” British Machine Vision Conference 2007
- Ioannides, G. Jorge, A. Flanagan, R. “Robot Calibration Using Least-Squares and Polar-Decomposition Filtering” The First International Symposium on Experimental Robotics 553 567
- “ALASCA®User Manual” 2006 02 15
- Tenne, D. Signh, T. “The Higher Order Unscented Filter” American Control Conference June 4-6 Denver, Colorado 2003
- Julier, S. Uhlmann, J. “A Consistent, Debiased Method for converting Between Polar and Cartesian Coordinate Systems” SPIE Proceedings 3086 110 121 1997