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Vol. 32, No. 8(2), S&M2292

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Sensors and Materials, Volume 32, Number 11(4) (2020)
Copyright(C) MYU K.K.
pp. 3935-3953
S&M2386 Research Paper of Special Issue
https://doi.org/10.18494/SAM.2020.3052
Published: November 30, 2020

Novel Trajectory Optimization Algorithm of Vehicle-borne LiDAR Mobile Measurement System [PDF]

Ming Guo, Mengxi Sun, Tengfei Zhou, Bingnan Yan, Yuquan Zhou, and Deng Pan

(Received August 5, 2020; Accepted October 20, 2020)

Keywords: vehicle-borne LiDAR measurement system, smooth trajectory, point cloud accuracy improvement, B-spline curve, adaptive segmentation

Since a vehicle-borne light detection and ranging (LiDAR) measurement system is affected by the signal shielding and rolling vibration of the vehicle as it moves, commonly available trajectory data are usually low-quality data with noise. Although the position and attitude data of the trajectory are processed by joint Kalman filtering, there are still fluctuations in local areas, which require processing to smooth the acquired trajectory data. In this paper, a model of vehicle motion is proposed to analyze the trend of a vehicle trajectory over time by recording the vehicle position, velocity, and attitude information in real time. Next, the vehicle motion trajectory is processed in sections to understand the motion state intuitively. Experimental results show that the descriptions of ground features by the vehicle-mounted and ground point clouds are almost the same. The relative accuracy can reach 0.013 m by selecting multiple spacings for comparison. In conclusion, the segmentation optimization method for vehicle trajectories proposed in this study is expected to provide a higher accuracy than the current techniques used for optimizing the accuracy of vehicle trajectories.

Corresponding author: Deng Pan


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Cite this article
Ming Guo, Mengxi Sun, Tengfei Zhou, Bingnan Yan, Yuquan Zhou, and Deng Pan, Novel Trajectory Optimization Algorithm of Vehicle-borne LiDAR Mobile Measurement System, Sens. Mater., Vol. 32, No. 11, 2020, p. 3935-3953.



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