Detection and Utilization of Reflections in LiDAR Scans Through Plane Optimization and Plane SLAM
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2024
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866909224628387840 |
|---|---|
| author | Li, Yinjie Zhao, Xiting Schwertfeger, Sören |
| author_facet | Li, Yinjie Zhao, Xiting Schwertfeger, Sören |
| contents | In LiDAR sensing, glass, mirrors and other material often cause inconsistent data readings, because the laser beams may report the distance of the glass, the distance of the object behind the glass or the distance to a reflected object. This causes problems in robotics and 3D reconstruction, especially with respect to localization, mapping and thus navigation. With dual-return LiDARs and other methods, one can detect the glass plane and classify the points in a single scan. In this work we go one step further and construct a global, optimized map of reflective planes, in order to then classify all LiDAR readings at the end. As our experiments will show, this approach provides superior classification accuracy compared to the single scan approach. The code and data for this work are available as open source online. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_10494 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Detection and Utilization of Reflections in LiDAR Scans Through Plane Optimization and Plane SLAM Li, Yinjie Zhao, Xiting Schwertfeger, Sören Robotics In LiDAR sensing, glass, mirrors and other material often cause inconsistent data readings, because the laser beams may report the distance of the glass, the distance of the object behind the glass or the distance to a reflected object. This causes problems in robotics and 3D reconstruction, especially with respect to localization, mapping and thus navigation. With dual-return LiDARs and other methods, one can detect the glass plane and classify the points in a single scan. In this work we go one step further and construct a global, optimized map of reflective planes, in order to then classify all LiDAR readings at the end. As our experiments will show, this approach provides superior classification accuracy compared to the single scan approach. The code and data for this work are available as open source online. |
| title | Detection and Utilization of Reflections in LiDAR Scans Through Plane Optimization and Plane SLAM |
| topic | Robotics |
| url | https://arxiv.org/abs/2406.10494 |