3D Environment Mapping with a Variable Resolution NDT Method

With the continuous development of the 3D LiDAR (Light Detection And Ranging) mapping algorithm and its application in various fields, the size of the point cloud map becomes a bottleneck that limits the 3D LiDAR mapping algorithm from running for a long time. In this paper, a 3D LiDAR mapping metho...
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Autor*in:	Yang Feng [verfasserIn] Zhiyuan Gao [verfasserIn] Jinghan Zhang [verfasserIn] Hang Shi [verfasserIn] Yangmin Xie [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Schlagwörter:	3D LiDAR mapping scan-to-map NDT variable resolution

Übergeordnetes Werk:	In: Machines - MDPI AG, 2013, 10(2022), 12, p 1200
Übergeordnetes Werk:	volume:10 ; year:2022 ; number:12, p 1200

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/machines10121200

Katalog-ID:	DOAJ083041966

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allfields	10.3390/machines10121200 doi (DE-627)DOAJ083041966 (DE-599)DOAJ8113ef4562604c57a437ee5f53d6143b DE-627 ger DE-627 rakwb eng TJ1-1570 Yang Feng verfasserin aut 3D Environment Mapping with a Variable Resolution NDT Method 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier With the continuous development of the 3D LiDAR (Light Detection And Ranging) mapping algorithm and its application in various fields, the size of the point cloud map becomes a bottleneck that limits the 3D LiDAR mapping algorithm from running for a long time. In this paper, a 3D LiDAR mapping method based on scan-to-map and variable resolution NDT (normal-distributions transform) registration is proposed. When updating the global map, variable resolution processing can reduce the size of the global map and improve the accuracy of map construction. In addition, the size of the map created by the mapping algorithm is proportional to the size of the space and does not grow infinitely over time. The mapping experiments using a rotating LiDAR in the room, corridor, and outdoor environments show that the algorithm has higher mapping accuracy and smaller map size than without considering the variable resolution strategy. The experimental results of the map construction for a long time in an appropriate test area illustrate that the map built by the algorithm does not grow infinitely with time in the fixed space. In summary, by adjusting the map resolution adaptively according to the curvature of different areas in the 3D LiDAR mapping process, the proposed variable resolution strategy can maintain the size of the global map almost proportional to the size of the space. Moreover, the mapping accuracy can be improved as well. 3D LiDAR mapping scan-to-map NDT variable resolution Mechanical engineering and machinery Zhiyuan Gao verfasserin aut Jinghan Zhang verfasserin aut Hang Shi verfasserin aut Yangmin Xie verfasserin aut In Machines MDPI AG, 2013 10(2022), 12, p 1200 (DE-627)73728823X (DE-600)2704328-9 20751702 nnns volume:10 year:2022 number:12, p 1200 https://doi.org/10.3390/machines10121200 kostenfrei https://doaj.org/article/8113ef4562604c57a437ee5f53d6143b kostenfrei https://www.mdpi.com/2075-1702/10/12/1200 kostenfrei https://doaj.org/toc/2075-1702 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 10 2022 12, p 1200
spelling	10.3390/machines10121200 doi (DE-627)DOAJ083041966 (DE-599)DOAJ8113ef4562604c57a437ee5f53d6143b DE-627 ger DE-627 rakwb eng TJ1-1570 Yang Feng verfasserin aut 3D Environment Mapping with a Variable Resolution NDT Method 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier With the continuous development of the 3D LiDAR (Light Detection And Ranging) mapping algorithm and its application in various fields, the size of the point cloud map becomes a bottleneck that limits the 3D LiDAR mapping algorithm from running for a long time. In this paper, a 3D LiDAR mapping method based on scan-to-map and variable resolution NDT (normal-distributions transform) registration is proposed. When updating the global map, variable resolution processing can reduce the size of the global map and improve the accuracy of map construction. In addition, the size of the map created by the mapping algorithm is proportional to the size of the space and does not grow infinitely over time. The mapping experiments using a rotating LiDAR in the room, corridor, and outdoor environments show that the algorithm has higher mapping accuracy and smaller map size than without considering the variable resolution strategy. The experimental results of the map construction for a long time in an appropriate test area illustrate that the map built by the algorithm does not grow infinitely with time in the fixed space. In summary, by adjusting the map resolution adaptively according to the curvature of different areas in the 3D LiDAR mapping process, the proposed variable resolution strategy can maintain the size of the global map almost proportional to the size of the space. Moreover, the mapping accuracy can be improved as well. 3D LiDAR mapping scan-to-map NDT variable resolution Mechanical engineering and machinery Zhiyuan Gao verfasserin aut Jinghan Zhang verfasserin aut Hang Shi verfasserin aut Yangmin Xie verfasserin aut In Machines MDPI AG, 2013 10(2022), 12, p 1200 (DE-627)73728823X (DE-600)2704328-9 20751702 nnns volume:10 year:2022 number:12, p 1200 https://doi.org/10.3390/machines10121200 kostenfrei https://doaj.org/article/8113ef4562604c57a437ee5f53d6143b kostenfrei https://www.mdpi.com/2075-1702/10/12/1200 kostenfrei https://doaj.org/toc/2075-1702 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 10 2022 12, p 1200
allfields_unstemmed	10.3390/machines10121200 doi (DE-627)DOAJ083041966 (DE-599)DOAJ8113ef4562604c57a437ee5f53d6143b DE-627 ger DE-627 rakwb eng TJ1-1570 Yang Feng verfasserin aut 3D Environment Mapping with a Variable Resolution NDT Method 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier With the continuous development of the 3D LiDAR (Light Detection And Ranging) mapping algorithm and its application in various fields, the size of the point cloud map becomes a bottleneck that limits the 3D LiDAR mapping algorithm from running for a long time. In this paper, a 3D LiDAR mapping method based on scan-to-map and variable resolution NDT (normal-distributions transform) registration is proposed. When updating the global map, variable resolution processing can reduce the size of the global map and improve the accuracy of map construction. In addition, the size of the map created by the mapping algorithm is proportional to the size of the space and does not grow infinitely over time. The mapping experiments using a rotating LiDAR in the room, corridor, and outdoor environments show that the algorithm has higher mapping accuracy and smaller map size than without considering the variable resolution strategy. The experimental results of the map construction for a long time in an appropriate test area illustrate that the map built by the algorithm does not grow infinitely with time in the fixed space. In summary, by adjusting the map resolution adaptively according to the curvature of different areas in the 3D LiDAR mapping process, the proposed variable resolution strategy can maintain the size of the global map almost proportional to the size of the space. Moreover, the mapping accuracy can be improved as well. 3D LiDAR mapping scan-to-map NDT variable resolution Mechanical engineering and machinery Zhiyuan Gao verfasserin aut Jinghan Zhang verfasserin aut Hang Shi verfasserin aut Yangmin Xie verfasserin aut In Machines MDPI AG, 2013 10(2022), 12, p 1200 (DE-627)73728823X (DE-600)2704328-9 20751702 nnns volume:10 year:2022 number:12, p 1200 https://doi.org/10.3390/machines10121200 kostenfrei https://doaj.org/article/8113ef4562604c57a437ee5f53d6143b kostenfrei https://www.mdpi.com/2075-1702/10/12/1200 kostenfrei https://doaj.org/toc/2075-1702 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 10 2022 12, p 1200
allfieldsGer	10.3390/machines10121200 doi (DE-627)DOAJ083041966 (DE-599)DOAJ8113ef4562604c57a437ee5f53d6143b DE-627 ger DE-627 rakwb eng TJ1-1570 Yang Feng verfasserin aut 3D Environment Mapping with a Variable Resolution NDT Method 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier With the continuous development of the 3D LiDAR (Light Detection And Ranging) mapping algorithm and its application in various fields, the size of the point cloud map becomes a bottleneck that limits the 3D LiDAR mapping algorithm from running for a long time. In this paper, a 3D LiDAR mapping method based on scan-to-map and variable resolution NDT (normal-distributions transform) registration is proposed. When updating the global map, variable resolution processing can reduce the size of the global map and improve the accuracy of map construction. In addition, the size of the map created by the mapping algorithm is proportional to the size of the space and does not grow infinitely over time. The mapping experiments using a rotating LiDAR in the room, corridor, and outdoor environments show that the algorithm has higher mapping accuracy and smaller map size than without considering the variable resolution strategy. The experimental results of the map construction for a long time in an appropriate test area illustrate that the map built by the algorithm does not grow infinitely with time in the fixed space. In summary, by adjusting the map resolution adaptively according to the curvature of different areas in the 3D LiDAR mapping process, the proposed variable resolution strategy can maintain the size of the global map almost proportional to the size of the space. Moreover, the mapping accuracy can be improved as well. 3D LiDAR mapping scan-to-map NDT variable resolution Mechanical engineering and machinery Zhiyuan Gao verfasserin aut Jinghan Zhang verfasserin aut Hang Shi verfasserin aut Yangmin Xie verfasserin aut In Machines MDPI AG, 2013 10(2022), 12, p 1200 (DE-627)73728823X (DE-600)2704328-9 20751702 nnns volume:10 year:2022 number:12, p 1200 https://doi.org/10.3390/machines10121200 kostenfrei https://doaj.org/article/8113ef4562604c57a437ee5f53d6143b kostenfrei https://www.mdpi.com/2075-1702/10/12/1200 kostenfrei https://doaj.org/toc/2075-1702 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 10 2022 12, p 1200
allfieldsSound	10.3390/machines10121200 doi (DE-627)DOAJ083041966 (DE-599)DOAJ8113ef4562604c57a437ee5f53d6143b DE-627 ger DE-627 rakwb eng TJ1-1570 Yang Feng verfasserin aut 3D Environment Mapping with a Variable Resolution NDT Method 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier With the continuous development of the 3D LiDAR (Light Detection And Ranging) mapping algorithm and its application in various fields, the size of the point cloud map becomes a bottleneck that limits the 3D LiDAR mapping algorithm from running for a long time. In this paper, a 3D LiDAR mapping method based on scan-to-map and variable resolution NDT (normal-distributions transform) registration is proposed. When updating the global map, variable resolution processing can reduce the size of the global map and improve the accuracy of map construction. In addition, the size of the map created by the mapping algorithm is proportional to the size of the space and does not grow infinitely over time. The mapping experiments using a rotating LiDAR in the room, corridor, and outdoor environments show that the algorithm has higher mapping accuracy and smaller map size than without considering the variable resolution strategy. The experimental results of the map construction for a long time in an appropriate test area illustrate that the map built by the algorithm does not grow infinitely with time in the fixed space. In summary, by adjusting the map resolution adaptively according to the curvature of different areas in the 3D LiDAR mapping process, the proposed variable resolution strategy can maintain the size of the global map almost proportional to the size of the space. Moreover, the mapping accuracy can be improved as well. 3D LiDAR mapping scan-to-map NDT variable resolution Mechanical engineering and machinery Zhiyuan Gao verfasserin aut Jinghan Zhang verfasserin aut Hang Shi verfasserin aut Yangmin Xie verfasserin aut In Machines MDPI AG, 2013 10(2022), 12, p 1200 (DE-627)73728823X (DE-600)2704328-9 20751702 nnns volume:10 year:2022 number:12, p 1200 https://doi.org/10.3390/machines10121200 kostenfrei https://doaj.org/article/8113ef4562604c57a437ee5f53d6143b kostenfrei https://www.mdpi.com/2075-1702/10/12/1200 kostenfrei https://doaj.org/toc/2075-1702 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 10 2022 12, p 1200
language	English
source	In Machines 10(2022), 12, p 1200 volume:10 year:2022 number:12, p 1200
sourceStr	In Machines 10(2022), 12, p 1200 volume:10 year:2022 number:12, p 1200
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	3D LiDAR mapping scan-to-map NDT variable resolution Mechanical engineering and machinery
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container_title	Machines
authorswithroles_txt_mv	Yang Feng @@aut@@ Zhiyuan Gao @@aut@@ Jinghan Zhang @@aut@@ Hang Shi @@aut@@ Yangmin Xie @@aut@@
publishDateDaySort_date	2022-01-01T00:00:00Z
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In this paper, a 3D LiDAR mapping method based on scan-to-map and variable resolution NDT (normal-distributions transform) registration is proposed. When updating the global map, variable resolution processing can reduce the size of the global map and improve the accuracy of map construction. In addition, the size of the map created by the mapping algorithm is proportional to the size of the space and does not grow infinitely over time. The mapping experiments using a rotating LiDAR in the room, corridor, and outdoor environments show that the algorithm has higher mapping accuracy and smaller map size than without considering the variable resolution strategy. The experimental results of the map construction for a long time in an appropriate test area illustrate that the map built by the algorithm does not grow infinitely with time in the fixed space. 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callnumber-first	T - Technology
author	Yang Feng
spellingShingle	Yang Feng misc TJ1-1570 misc 3D LiDAR mapping misc scan-to-map misc NDT misc variable resolution misc Mechanical engineering and machinery 3D Environment Mapping with a Variable Resolution NDT Method
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topic_title	TJ1-1570 3D Environment Mapping with a Variable Resolution NDT Method 3D LiDAR mapping scan-to-map NDT variable resolution
topic	misc TJ1-1570 misc 3D LiDAR mapping misc scan-to-map misc NDT misc variable resolution misc Mechanical engineering and machinery
topic_unstemmed	misc TJ1-1570 misc 3D LiDAR mapping misc scan-to-map misc NDT misc variable resolution misc Mechanical engineering and machinery
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title	3D Environment Mapping with a Variable Resolution NDT Method
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title_auth	3D Environment Mapping with a Variable Resolution NDT Method
abstract	With the continuous development of the 3D LiDAR (Light Detection And Ranging) mapping algorithm and its application in various fields, the size of the point cloud map becomes a bottleneck that limits the 3D LiDAR mapping algorithm from running for a long time. In this paper, a 3D LiDAR mapping method based on scan-to-map and variable resolution NDT (normal-distributions transform) registration is proposed. When updating the global map, variable resolution processing can reduce the size of the global map and improve the accuracy of map construction. In addition, the size of the map created by the mapping algorithm is proportional to the size of the space and does not grow infinitely over time. The mapping experiments using a rotating LiDAR in the room, corridor, and outdoor environments show that the algorithm has higher mapping accuracy and smaller map size than without considering the variable resolution strategy. The experimental results of the map construction for a long time in an appropriate test area illustrate that the map built by the algorithm does not grow infinitely with time in the fixed space. In summary, by adjusting the map resolution adaptively according to the curvature of different areas in the 3D LiDAR mapping process, the proposed variable resolution strategy can maintain the size of the global map almost proportional to the size of the space. Moreover, the mapping accuracy can be improved as well.
abstractGer	With the continuous development of the 3D LiDAR (Light Detection And Ranging) mapping algorithm and its application in various fields, the size of the point cloud map becomes a bottleneck that limits the 3D LiDAR mapping algorithm from running for a long time. In this paper, a 3D LiDAR mapping method based on scan-to-map and variable resolution NDT (normal-distributions transform) registration is proposed. When updating the global map, variable resolution processing can reduce the size of the global map and improve the accuracy of map construction. In addition, the size of the map created by the mapping algorithm is proportional to the size of the space and does not grow infinitely over time. The mapping experiments using a rotating LiDAR in the room, corridor, and outdoor environments show that the algorithm has higher mapping accuracy and smaller map size than without considering the variable resolution strategy. The experimental results of the map construction for a long time in an appropriate test area illustrate that the map built by the algorithm does not grow infinitely with time in the fixed space. In summary, by adjusting the map resolution adaptively according to the curvature of different areas in the 3D LiDAR mapping process, the proposed variable resolution strategy can maintain the size of the global map almost proportional to the size of the space. Moreover, the mapping accuracy can be improved as well.
abstract_unstemmed	With the continuous development of the 3D LiDAR (Light Detection And Ranging) mapping algorithm and its application in various fields, the size of the point cloud map becomes a bottleneck that limits the 3D LiDAR mapping algorithm from running for a long time. In this paper, a 3D LiDAR mapping method based on scan-to-map and variable resolution NDT (normal-distributions transform) registration is proposed. When updating the global map, variable resolution processing can reduce the size of the global map and improve the accuracy of map construction. In addition, the size of the map created by the mapping algorithm is proportional to the size of the space and does not grow infinitely over time. The mapping experiments using a rotating LiDAR in the room, corridor, and outdoor environments show that the algorithm has higher mapping accuracy and smaller map size than without considering the variable resolution strategy. The experimental results of the map construction for a long time in an appropriate test area illustrate that the map built by the algorithm does not grow infinitely with time in the fixed space. In summary, by adjusting the map resolution adaptively according to the curvature of different areas in the 3D LiDAR mapping process, the proposed variable resolution strategy can maintain the size of the global map almost proportional to the size of the space. Moreover, the mapping accuracy can be improved as well.
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title_short	3D Environment Mapping with a Variable Resolution NDT Method
url	https://doi.org/10.3390/machines10121200 https://doaj.org/article/8113ef4562604c57a437ee5f53d6143b https://www.mdpi.com/2075-1702/10/12/1200 https://doaj.org/toc/2075-1702
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3D Environment Mapping with a Variable Resolution NDT Method

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