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Extracting Proprioceptive Information By Analyzing Rotating Range Sensors Induced Distortion

Vivet, Damien Extracting Proprioceptive Information By Analyzing Rotating Range Sensors Induced Distortion. (2019) In: 2019 27th European Signal Processing Conference (EUSIPCO), 2 September 2019 - 6 September 2019 (A Coruna, Spain).

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Official URL: https://doi.org/10.23919/EUSIPCO.2019.8903009

Abstract

The increased autonomy of robots is directly linked to their capability to perceive their environment. Simultaneous Localization and Mapping (SLAM) techniques, which associate perception and movement, are particularly interesting because they provide advanced autonomy to vehicles in the field of Intelligent Transportation Systems (ITS). Such ITS are based on both proprioceptive sensors to estimate their dynamics and exteroceptive sensors in order to perceive the surrounding of the vehicle. This second class of sensor is dominated by camera and rotating range sensors such as LIDAR or RADAR. Indeed, the majority of intelligent vehicles uses today 2D/3D laser or panoramic radar to localize itself or detect and avoid obstacles. The use of a rotating range sensor, while moving at high speed, creates distortions in the collected data. Such an effect is, in the majority of studies, ignored or considered as noise and then corrected, based on additional proprioceptive sensors or localization systems. In this study, rather than considering distortion as a noise, we consider that it contains all the information about the vehicle’s displacement. We propose to extract this information from such distortion without any other information than the exteroceptive sensor data. The idea is to resort to velocimetry by only analyzing the distortion of the measurements. As a result, we propose a linear and angular velocities estimator of the mobile robot based on the distortion analysis.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : https://ieeexplore.ieee.org/document/8903009/ “© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
HAL Id:hal-03202069
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
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Funders:
DGA/AID 2018.60.0072.00.470.75.01
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Deposited On:19 Apr 2021 12:59

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