Coarse-to-fine Hybrid 3D Mapping System with Co-calibrated Omnidirectional Camera and Non-repetitive LiDAR

Ziliang Miao1; Buwei He1; Wenya Xie1; Wenquan Zhao1; Xiao Huang1; Jian Bai2; Xiaoping Hong1

2023

10.1109/LRA.2023.3242874

IEEE Robotics and Automation Letters   Impact Factor & Quartile

2377-3774

2377-3766

This letter presents a novel 3D mapping robot with an omnidirectional field-of-view (FoV) sensor suite composed of a non-repetitive LiDAR and an omnidirectional camera. Thanks to the non-repetitive scanning nature of the LiDAR, an automatic targetless co-calibration method is proposed to simultaneously calibrate the intrinsic parameters for the omnidirectional camera and the extrinsic parameters for the camera and LiDAR, which is crucial for the required step in bringing color and texture information to the point clouds in surveying and mapping tasks. Comparisons and analyses are made to target-based intrinsic calibration and mutual information (MI)-based extrinsic calibration, respectively. With this co-calibrated sensor suite, the hybrid mapping robot integrates both the odometry-based mapping mode and stationary mapping mode. Meanwhile, we proposed a new workflow to achieve coarse-to-fine mapping, including efficient and coarse mapping in a global environment with odometry-based mapping mode; planning for viewpoints in the region-of-interest (ROI) based on the coarse map (relies on the previous work [1]); navigating to each viewpoint and performing finer and more precise stationary scanning and mapping of the ROI. The fine map is stitched with the global coarse map, which provides a more efficient and precise result than the conventional stationary approaches and the emerging odometry-based approaches, respectively.

Mapping Robotic Systems Omnidirectional Vision Calibration and Identification SLAM

SCI

English

First

Shenzhen Science and Technology Project["JSGG20211029095803004","JSGG20201103100401004"]

Robotics

Robotics

WOS:000935281600015

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

2-s2.0-85148422512

IEEE

1.School of System Design and Intelligent Manufacturing (SDIM), Southern University of Science and Technology (SUSTech), China
2.State Key Laboratory of Modern Optical Instrumentation, Zhejiang University, China

Ziliang Miao,Buwei He,Wenya Xie,et al. Coarse-to-fine Hybrid 3D Mapping System with Co-calibrated Omnidirectional Camera and Non-repetitive LiDAR[J]. IEEE Robotics and Automation Letters,2023,PP(99):1-8.

Ziliang Miao.,Buwei He.,Wenya Xie.,Wenquan Zhao.,Xiao Huang.,...&Xiaoping Hong.(2023).Coarse-to-fine Hybrid 3D Mapping System with Co-calibrated Omnidirectional Camera and Non-repetitive LiDAR.IEEE Robotics and Automation Letters,PP(99),1-8.

Ziliang Miao,et al."Coarse-to-fine Hybrid 3D Mapping System with Co-calibrated Omnidirectional Camera and Non-repetitive LiDAR".IEEE Robotics and Automation Letters PP.99(2023):1-8.