Knowledge Commons of Institute of Automation,CAS
Terrain Mapping for Autonomous Trucks in Surface Mine | |
Junhui Wang![]() ![]() ![]() ![]() | |
2022 | |
会议名称 | IEEE International Conference on Intelligent Transportation Systems |
会议日期 | 2022.10.08 |
会议地点 | Macau, China |
摘要 | Maps with different representations play an essential role in the development of automotive intelligence. In order to enhance the capacity of autonomous trucks in surface mine, an extensible terrain mapping system based on LiDAR is proposed in this paper. Point cloud map, 2.5D grid map, and mesh map are integrated into a unified and extensible map-building framework. In order to adapt to the unique characteristics of surface mine, terrain mapping methods are proposed based on existing approaches. Each map-building method builds a local robot-centered map for time-sensitive tasks. Local maps are fused into global maps in the cloud for non-time-sensitive tasks. The construction method of the point cloud map can avoid the loss of information when updating the map by computing convex hulls. The 2.5D grid map can model the unstructured and rugged terrain of mines. The mesh map is built based on Poisson reconstruction, which is conducive to human-truck interaction. In addition, the map maintenance method in the framework is proposed. Experiments are conducted with datasets collected in real-world scenes. |
收录类别 | EI |
语种 | 英语 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 先进智能应用与转化 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/51641 |
专题 | 多模态人工智能系统全国重点实验室_平行智能技术与系统团队 |
作者单位 | 1.中国科学院自动化研究所 2.北京慧拓无限科技有限公司 |
推荐引用方式 GB/T 7714 | Junhui Wang,Bin Tian,Yachen Zhu,et al. Terrain Mapping for Autonomous Trucks in Surface Mine[C],2022. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Terrain_Mapping_for_(910KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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