激光雷达异常检测及鲁棒测量模型

Robust Measurement Model for Laser Range Finder

激光雷达已被广泛应用于移动机器人地图构建、定位以及跟踪等任务。针对激光雷达提出一种鲁棒测量模型。首先利用分段分析的方法对激光雷达的异常测量射线进行检测并滤除;然后提出逆向射线跟踪技术用于计算扫描射线的期望距离以及似然概率;最后选择高似然度的射线计算整体似然概率,从而滤除被动态障碍干扰的射线。该测量模型鲁棒性表现在两个方面:(1)滤除了异常的测量射线;(2)滤除了由于动态障碍干扰的射线。通过实验验证了算法的鲁棒性和精度。

Laser range finder has been widely used in map building, locating and tracking in Robotics. A robust measurement model for laser range finder was proposed for these purposes. Abnormal beams were detected and filtered out with segment analysis method. A reverse ray tracing technique was put forward to calculate expected distances of beams quickly. Beams with higher likelihood were employed to compute the probability of the whole scan to filter out beams affected by dynamic obstacles. The robustness of the provided model is two folds, （1） abnormal beams of laser range finder are filtered out with segment analysis method, （2） beams reflected by dynamic objects are also picked out. Experimental results show the robustness and accuracy of the presented model.