Novel Trajectory Optimization Algorithm of Vehicle-borne LiDAR Mobile Measurement System

• DOI: 10.18494/sam.2020.3052
• Publication Date: 2020-12-01T17:11:44Z
• Authors: Ming Guo; Mengxi Sun; Tengfei Zhou; Bingnan Yan; Yuquan Zhou; Deng Pan
• Keywords: Trajectory Optimization; Optimization algorithm

Since a vehicle-borne light detection and ranging (LiDAR) measurement system is affected by the signal shielding rolling vibration of vehicle as it moves, commonly available trajectory data are usually low-quality with noise.Although position attitude processed joint Kalman filtering, there still fluctuations in local areas, which require processing to smooth acquired data.In this paper, model motion proposed analyze trend over time recording position, velocity, information real time.Next, sections understand state intuitively.Experimental results show that descriptions ground features vehicle-mounted point clouds almost same.The relative accuracy can reach 0.013 m selecting multiple spacings for comparison.In conclusion, segmentation optimization method trajectories study expected provide higher than current techniques used optimizing trajectories.