Document Type
Article
Publication Date
7-20-2022
Abstract
For vehicles to operate in unmapped areas with some degree of autonomy, it would be useful to aggregate and store processed sensor data so that it can be used later. In this paper, a tool that records and optimizes the placement of costmap data on a persistent map is presented. The optimization takes several factors into account, including local vehicle odometry, GPS signals when available, local map consistency, deformation of map regions, and proprioceptive GPS offset error. Results illustrating the creation of maps from previously unseen regions (a 100 m × 880 m test track and a 1.2 km dirt trail) are presented, with and without GPS signals available during the creation of the maps. Finally, two examples of the use of these maps are given. First, a path is planned along roads that have been seen exactly once during the mapping phase. Secondly, the map is used for vehicle localization in the absence of GPS signals.
DOI
10.3390/s22145427
Publisher
MDPI
Repository Citation
Nickels, K., Gassaway, J., Bries, M., Anthony, D., & Fiorani, G. W. (2022). Persistent mapping of sensor data for medium-term autonomy. Sensors, 22(14), Article 5427. http://doi.org/10.3390/s22145427
Publication Information
Sensors
Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.