INVESTIGATING THE COMPLEMENTARY USE OF RADAR AND LIDAR FOR POSITIONING APPLICATIONS
In the realm of Autonomous Vehicles (AVs), accurate, reliable and uninterrupted positioning capabilities are vital to ensure successful operations. Light Detection And Ranging (LiDAR) technology, capable of providing a high-fidelity 3D representation of the surrounding environment, has enabled numer...
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2023-12-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://isprs-archives.copernicus.org/articles/XLVIII-1-W2-2023/909/2023/isprs-archives-XLVIII-1-W2-2023-909-2023.pdf |
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| author | E. Mounier E. Mounier E. Dawson M. Elhabiby M. Korenberg A. Noureldin A. Noureldin |
| author_facet | E. Mounier E. Mounier E. Dawson M. Elhabiby M. Korenberg A. Noureldin A. Noureldin |
| author_sort | E. Mounier |
| collection | DOAJ |
| description | In the realm of Autonomous Vehicles (AVs), accurate, reliable and uninterrupted positioning capabilities are vital to ensure successful operations. Light Detection And Ranging (LiDAR) technology, capable of providing a high-fidelity 3D representation of the surrounding environment, has enabled numerous odometry-based positioning algorithms. These algorithms utilize a registration process to estimate relative motion from two successive 3D scans. However, the accuracy of the registration process can be compromised by the presence of dynamic objects, leading to significant translational and rotational deviations. On the other hand, Radar technology provides spatial and speed information. However, it is limited by spatial sparsity and susceptibility to noise. In this paper, we propose combining the complementary LiDAR and Electronic Scanning Radar (ESR) measurements, along with onboard motion sensors for improved navigation performance in complex and dynamic environments. This is achieved by employing a radar-based filtering mechanism that refines the LiDAR’s point cloud mitigating the impact of dynamic objects. This results in a more robust registration process, which in turn enhances the LiDAR Inertial Odometry (LIO) solution. The proposed method was verified using real data collected from onboard motion sensors, a 3D LiDAR, and four ESRs from road tests conducted in downtown Calgary, Alberta, Canada. Our approach achieved an improved average horizontal positioning and heading RMSE of 0.43 meters and 0.25 degrees, respectively, compared to the 0.66 meters and 0.39 degrees observed with the standalone LIO solution. Moreover, submeter-level and lane-level accuracies were enhanced to 95% and 100% of the time, respectively, up from 85.7% and 94.9%. |
| first_indexed | 2024-03-08T23:35:00Z |
| format | Article |
| id | doaj.art-6fa672dc70b241e183494c029728d073 |
| institution | Directory Open Access Journal |
| issn | 1682-1750 2194-9034 |
| language | English |
| last_indexed | 2024-03-08T23:35:00Z |
| publishDate | 2023-12-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj.art-6fa672dc70b241e183494c029728d0732023-12-14T07:39:12ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342023-12-01XLVIII-1-W2-202390991410.5194/isprs-archives-XLVIII-1-W2-2023-909-2023INVESTIGATING THE COMPLEMENTARY USE OF RADAR AND LIDAR FOR POSITIONING APPLICATIONSE. Mounier0E. Mounier1E. Dawson2M. Elhabiby3M. Korenberg4A. Noureldin5A. Noureldin6Queen’s University, Kingston, ON, CanadaAin Shams University, Cairo, EgyptQueen’s University, Kingston, ON, CanadaMicro Engineering Tech Inc., Alberta, CanadaQueen’s University, Kingston, ON, CanadaQueen’s University, Kingston, ON, CanadaRoyal Military College, Kingston, ON, CanadaIn the realm of Autonomous Vehicles (AVs), accurate, reliable and uninterrupted positioning capabilities are vital to ensure successful operations. Light Detection And Ranging (LiDAR) technology, capable of providing a high-fidelity 3D representation of the surrounding environment, has enabled numerous odometry-based positioning algorithms. These algorithms utilize a registration process to estimate relative motion from two successive 3D scans. However, the accuracy of the registration process can be compromised by the presence of dynamic objects, leading to significant translational and rotational deviations. On the other hand, Radar technology provides spatial and speed information. However, it is limited by spatial sparsity and susceptibility to noise. In this paper, we propose combining the complementary LiDAR and Electronic Scanning Radar (ESR) measurements, along with onboard motion sensors for improved navigation performance in complex and dynamic environments. This is achieved by employing a radar-based filtering mechanism that refines the LiDAR’s point cloud mitigating the impact of dynamic objects. This results in a more robust registration process, which in turn enhances the LiDAR Inertial Odometry (LIO) solution. The proposed method was verified using real data collected from onboard motion sensors, a 3D LiDAR, and four ESRs from road tests conducted in downtown Calgary, Alberta, Canada. Our approach achieved an improved average horizontal positioning and heading RMSE of 0.43 meters and 0.25 degrees, respectively, compared to the 0.66 meters and 0.39 degrees observed with the standalone LIO solution. Moreover, submeter-level and lane-level accuracies were enhanced to 95% and 100% of the time, respectively, up from 85.7% and 94.9%.https://isprs-archives.copernicus.org/articles/XLVIII-1-W2-2023/909/2023/isprs-archives-XLVIII-1-W2-2023-909-2023.pdf |
| spellingShingle | E. Mounier E. Mounier E. Dawson M. Elhabiby M. Korenberg A. Noureldin A. Noureldin INVESTIGATING THE COMPLEMENTARY USE OF RADAR AND LIDAR FOR POSITIONING APPLICATIONS The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | INVESTIGATING THE COMPLEMENTARY USE OF RADAR AND LIDAR FOR POSITIONING APPLICATIONS |
| title_full | INVESTIGATING THE COMPLEMENTARY USE OF RADAR AND LIDAR FOR POSITIONING APPLICATIONS |
| title_fullStr | INVESTIGATING THE COMPLEMENTARY USE OF RADAR AND LIDAR FOR POSITIONING APPLICATIONS |
| title_full_unstemmed | INVESTIGATING THE COMPLEMENTARY USE OF RADAR AND LIDAR FOR POSITIONING APPLICATIONS |
| title_short | INVESTIGATING THE COMPLEMENTARY USE OF RADAR AND LIDAR FOR POSITIONING APPLICATIONS |
| title_sort | investigating the complementary use of radar and lidar for positioning applications |
| url | https://isprs-archives.copernicus.org/articles/XLVIII-1-W2-2023/909/2023/isprs-archives-XLVIII-1-W2-2023-909-2023.pdf |
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