Laser Positioning Method Based on Line Endpoint Direction Matching

Fig. 6. Point cloud registration graphs. (a) Source point cloud line detection results; (b) target point cloud line detection results; (c) endpoint matching; (d) directional endpoint matching

Download full size

Fig. 7. Trajectories (experiment 1). (a) Trajectory of mobile robot with different nearest neighbor constraints; (b) trajectory of mobile robot with different estimation methods

Download full size

Fig. 8. Experimental scenario 2

Download full size

Fig. 9. Trajectories (experiment 2). (a) Trajectory of mobile robot with different nearest neighbor constraints; (b) trajectory of mobile robot with different estimation methods

Download full size

Table 1. Average absolute localization error of mobile robot under different constraints (experiment 1)

View table

Table 1. Average absolute localization error of mobile robot under different constraints (experiment 1)

Constrain /m	Distance threshold between points and lines
	0.01 m		0.04 m		0.07 m		0.10 m
	Position error /m	Angular error /（°）	Position error /m	Angular error /（°）	Position error /m	Angular error /（°）	Position error /m	Angular error /（°）
0.5	9.84	55.84	9.53	53.16	3.86	48.54	10.81	63.38
1.0	1.13	11.49	0.95	8.87	1.12	12.41	1.00	11.61
2.0	1.21	9.08	0.90	5.16	1.01	7.86	0.93	7.81
3.0	1.28	10.12°	1.31	7.84°	1.41	10.46°	1.40	10.57°

Table 2. Average absolute localization error under different nearest neighbor constraints (experiment 1)
View table
Table 2. Average absolute localization error under different nearest neighbor constraints (experiment 1)
Constraint（distance：2 m） Position error /m Angular error /（°）
Angular 50° 0.56 3.82
Angular 75° 0.57 3.85
Angular 100° 0.50 2.20
Angular 125° 0.54 2.69
Angular 150° 0.57 2.61

Table 3. Average value of absolute positioning error under different estimation methods (experiment 1)

View table

Table 3. Average value of absolute positioning error under different estimation methods (experiment 1)

Estimation method（distance：2 m，angle：100°）	Position error /m	Angular error /（°）
Endpoint matching	0.90	5.16
Directional endpoint	0.50	2.20
ICP	0.22	1.19
Odometer	0.33	4.52
Directional endpoint +ICP	0.12	1.18

Table 4. Average value of positioning error between adjacent frames under different estimation methods (experiment 1)
View table
Table 4. Average value of positioning error between adjacent frames under different estimation methods (experiment 1)
Estimation method（distance：2 m，angle：100°） Position error /m Angular error /（°）
Endpoint matching 0.048 0.394
Directional endpoint 0.044 0.358
ICP 0.013 0.152
Directional endpoint +ICP 0.011 0.151

Table 5. Average value of absolute positioning error under different estimation methods (experiment 2)

View table

Table 5. Average value of absolute positioning error under different estimation methods (experiment 2)

Estimation method（distance：2 m，angle：100°）	Position error /m	Angular error /（°）
Endpoint matching	1.29	13.79
Directional endpoint	0.63	5.87
ICP	0.47	2.36
Odometer	0.49	4.31
Directional endpoint +ICP	0.35	1.27

Table 6. Time consumption of different laser scanning matching algorithms
View table
Table 6. Time consumption of different laser scanning matching algorithms
Estimation method Time consumption /ms
Endpoint matching 85.5
Directional endpoint 85.3
ICP 248.6
Directional endpoint +ICP 329.5

Tools

Get Citation

Copy Citation Text

Kaixiang Chen, Ran Liu, Bin Zhao, Yufeng Xiao, Lin Guo, Tianrui Deng. Laser Positioning Method Based on Line Endpoint Direction Matching[J]. Laser & Optoelectronics Progress, 2024, 61(4): 0428010

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites

Paper Information

Category: Remote Sensing and Sensors

Received: Oct. 9, 2022

Accepted: Feb. 14, 2023

Published Online: Feb. 20, 2024

The Author Email: Ran Liu (ran_liu@sutd.edu.sg)

DOI:10.3788/LOP222718

CSTR:32186.14.LOP222718

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Average absolute localization error of mobile robot under different constraints (experiment 1)

Table 1. Average absolute localization error of mobile robot under different constraints (experiment 1)

Table 2. Average absolute localization error under different nearest neighbor constraints (experiment 1)

Table 2. Average absolute localization error under different nearest neighbor constraints (experiment 1)

Table 3. Average value of absolute positioning error under different estimation methods (experiment 1)

Table 3. Average value of absolute positioning error under different estimation methods (experiment 1)

Table 4. Average value of positioning error between adjacent frames under different estimation methods (experiment 1)

Table 4. Average value of positioning error between adjacent frames under different estimation methods (experiment 1)

Table 5. Average value of absolute positioning error under different estimation methods (experiment 2)

Table 5. Average value of absolute positioning error under different estimation methods (experiment 2)

Table 6. Time consumption of different laser scanning matching algorithms

Table 6. Time consumption of different laser scanning matching algorithms