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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...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8587545/ https://www.ncbi.nlm.nih.gov/pubmed/34770449 http://dx.doi.org/10.3390/s21217141 |
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author | Zeng, Qingxi Kan, Yuchao Tao, Xiaodong Hu, Yixuan |
author_facet | Zeng, Qingxi Kan, Yuchao Tao, Xiaodong Hu, Yixuan |
author_sort | Zeng, Qingxi |
collection | PubMed |
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. |
format | Online Article Text |
id | pubmed-8587545 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-85875452021-11-13 LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance Zeng, Qingxi Kan, Yuchao Tao, Xiaodong Hu, Yixuan Sensors (Basel) Article 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. MDPI 2021-10-28 /pmc/articles/PMC8587545/ /pubmed/34770449 http://dx.doi.org/10.3390/s21217141 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Zeng, Qingxi Kan, Yuchao Tao, Xiaodong Hu, Yixuan LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance |
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 | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8587545/ https://www.ncbi.nlm.nih.gov/pubmed/34770449 http://dx.doi.org/10.3390/s21217141 |
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