Computational Mapping of the Ground Reflectivity With Laser Scanners

Abstract

In this investigation we focus on the problem of mapping the ground reflectivity with multiple laser scanners mounted on mobile robots/vehicles. The problem originates because regions of the ground become populated with a varying number of reflectivity measurements whose value depends on the observer and its corresponding perspective. Here, we propose a novel automatic, data-driven computational mapping framework specifically aimed at preserving edge sharpness in the map reconstruction process and that considers the sources of measurement variation. Our new formulation generates map-perspective gradients and applies sub-set selection fusion and de-noising operators to these through iterative algorithms that minimize an 1 sparse regularized least squares formulation. Reconstruction of the ground reflectivity is then carried out based on Poisson's formulation posed as an 2 term promoting consistency with the fused gradient of map-perspectives and a term that ensures equality constraints with reference measurement map data. We demonstrate our new framework outperforms the capabilities of existing ones with experiments realized on Ford's fleet of autonomous vehicles. For example, we show we can achieve map enhancement (i.e., contrast enhancement), artifact removal, de-noising and map-stitching without requiring an additional reflectivity adjustment to calibrate sensors to the specific mounting and robot/vehicle motion. * J. Castorena (email: jcastore@ford.com) is with Ford Motor Company, Dearborn, MI, USA

Ground-Edge-Based LIDAR Localization Without a Reflectivity Calibration for Autonomous Driving

“…The application of our alternative representation framework is related to the online localization of an autonomous vehicle within a prior LIDAR map of the ground via registration corrections. Here, continuing the work of [23] we propose edge alignments as our matching mechanism via corresponding isotropic gradients of the global and local grids. A similar matching criterion was envisioned in [24] for the joint registration and LIDAR-camera fusion.…”