LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance
As one of the automated guided vehicle (AGV) positioning methods, the LiDAR positioning method, based on artificial landmarks, has been widely used in warehousing logistics industries in recent years. However, the traditional LiDAR positioning method based on artificial landmarks mainly depends on t...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/21/7141 |
| _version_ | 1827677851369865216 |
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| author | Qingxi Zeng Yuchao Kan Xiaodong Tao Yixuan Hu |
| author_facet | Qingxi Zeng Yuchao Kan Xiaodong Tao Yixuan Hu |
| author_sort | Qingxi Zeng |
| collection | DOAJ |
| description | As one of the automated guided vehicle (AGV) positioning methods, the LiDAR positioning method, based on artificial landmarks, has been widely used in warehousing logistics industries in recent years. However, the traditional LiDAR positioning method based on artificial landmarks mainly depends on the three-point positioning method, the performance of which is limited due to landmarks’ layout and detection requirements. This paper proposes a LiDAR positioning algorithm based on iterative closest point (ICP) and artificial landmarks assistance. It provides improvements based on the traditional ICP algorithm. The result of positioning provided by the landmarks is used as the initial iteration ICP value. The combination of the ICP algorithm and landmarks enables the positioning algorithm to maintain a certain positioning precision when landmark detection is disturbed. By comparing the proposed algorithm with the positioning scheme developed by SICK in Germany, we prove that the combination of the ICP algorithm and landmarks can effectively improve the robustness under the premise of ensuring precision. |
| first_indexed | 2024-03-10T05:52:32Z |
| format | Article |
| id | doaj.art-00941b1fecd147b2b2d31fbff38b51e5 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T05:52:32Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-00941b1fecd147b2b2d31fbff38b51e52023-11-22T21:37:13ZengMDPI AGSensors1424-82202021-10-012121714110.3390/s21217141LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks AssistanceQingxi Zeng0Yuchao Kan1Xiaodong Tao2Yixuan Hu3College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaAs one of the automated guided vehicle (AGV) positioning methods, the LiDAR positioning method, based on artificial landmarks, has been widely used in warehousing logistics industries in recent years. However, the traditional LiDAR positioning method based on artificial landmarks mainly depends on the three-point positioning method, the performance of which is limited due to landmarks’ layout and detection requirements. This paper proposes a LiDAR positioning algorithm based on iterative closest point (ICP) and artificial landmarks assistance. It provides improvements based on the traditional ICP algorithm. The result of positioning provided by the landmarks is used as the initial iteration ICP value. The combination of the ICP algorithm and landmarks enables the positioning algorithm to maintain a certain positioning precision when landmark detection is disturbed. By comparing the proposed algorithm with the positioning scheme developed by SICK in Germany, we prove that the combination of the ICP algorithm and landmarks can effectively improve the robustness under the premise of ensuring precision.https://www.mdpi.com/1424-8220/21/21/7141landmarks detectionICP with landmarksreflector matching |
| spellingShingle | Qingxi Zeng Yuchao Kan Xiaodong Tao Yixuan Hu LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance Sensors landmarks detection ICP with landmarks reflector matching |
| title | LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance |
| title_full | LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance |
| title_fullStr | LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance |
| title_full_unstemmed | LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance |
| title_short | LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance |
| title_sort | lidar positioning algorithm based on icp and artificial landmarks assistance |
| topic | landmarks detection ICP with landmarks reflector matching |
| url | https://www.mdpi.com/1424-8220/21/21/7141 |
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