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Perimeter-Based Polar Scan Matching (PB-PSM) for 2D Laser Odometry

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Abstract

The paper presents Perimeter-Based Polar Scan Matching (PB-PSM), a new 2D scan matching algorithm. The algorithm favors matches with a larger perimeter overlap between the two input scans, while using a robust cost minimization process (using an adaptive direct search method, made possible due to a linear complexity data association technique). PB-PSM is benchmarked against the previously published PSM and PSM-C algorithms, and numerous realizations of the ICP algorithm. Results for convergence, accuracy, and computational speed are discussed. PB-PSM is employed on several laser scan datasets, both existing and in-house. Quantitative comparison of resulting maps is done using a new metric for evaluating occupancy grid maps accuracy, by calculating the average cell distance from the walls of the true map. The relative importance of each novel contribution is quantified using the new metric. Additional qualitative analysis is provided for previously published and relatively large datasets.

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Abbreviations

n :

Total number of points

n c :

Number of cost-contributing points.

r :

Range [mm].

R min , R max :

Minimum/maximum laser range, respectively [mm].

T E :

Threshold for eliminating matching anomalies.

T M :

Threshold for consideration of matching success.

T F :

Threshold for final cost function accepted value.

x, y :

Cartesian laser point coordinates [mm].

α :

Threshold for shallow angle definition.

𝜃 :

Beam angle.

ψ :

azimuth angle [rad].

ε :

error with respect to ground truth.

Δ():

Property shift.

()′:

Quantity after roto-translation

()″:

Interpolated radii value

() C :

Current scan related property.

() R :

Reference scan related property.

EKF:

Extended Kalman Filter.

FOV:

Field of View.

GPS:

Global Positioning System.

ICP:

Iterative Closest Point.

IDC:

Iterative Dual Correspondence.

IMRP:

Iterative Matching Range Point.

OG:

Occupancy Grid.

PB-PSM:

Perimeter-Based Polar Scan Matching.

PM:

Perimeter Matching.

PSM:

Polar Scan Matching.

PSM-C:

Polar Scan Matching - Cartesian.

SLAM:

Simultaneous Localization And Mapping.

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Author notes

  1. Chen Friedman

    Present address: Department of Mechanical and Aerospace Engineering, The George Washington University, 801 22nd St, NW Washington, DC, 20052, USA

Authors and Affiliations

  1. Alfred Gessow Rotorcraft Center, Department of Aerospace Engineering, University of Maryland, College Park, MD, 20742, USA

    Chen Friedman & Inderjit Chopra

  2. Faculty of Aerospace Engineering, Technion, Israel Institute of Technology, Haifa, Israel

    Omri Rand

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Correspondence to Chen Friedman.

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Friedman, C., Chopra, I. & Rand, O. Perimeter-Based Polar Scan Matching (PB-PSM) for 2D Laser Odometry. J Intell Robot Syst 80, 231–254 (2015). https://doi.org/10.1007/s10846-014-0158-y

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