Tightly coupled integration of vector HD map, LiDAR, GNSS, and INS for precise vehicle navigation in GNSS-challenging environment

Zhang, Hongjuan; Qian, Chuang; Li, Wenzhuo; Li, Bijun; Liu, Hui

doi:10.1080/10095020.2024.2377800

Geo-spatial Information Science

2024

DOI: 10.1080/10095020.2024.2377800

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Tightly coupled integration of vector HD map, LiDAR, GNSS, and INS for precise vehicle navigation in GNSS-challenging environment

Hongjuan Zhang,

Chuang Qian,

Wenzhuo Li

et al.

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Cited by 2 publications

References 39 publications

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Remote marine precise point positioning with baseline length and troposphere-constrained models of the receivers for the oceanographic research vessel

Yan,

Liu,

Yang

et al. 2024

Geo-spatial Information Science

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Remote marine precise point positioning with baseline length and troposphere-constrained models of the receivers for the oceanographic research vessel

Yan,

Liu,

Yang

et al. 2024

Geo-spatial Information Science

View full text Add to dashboard Cite

A precise registration method for large-scale urban point clouds based on phased and spatial geometric features

Xu,

Han,

Zhong

et al. 2024

Meas. Sci. Technol.

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The dense high-rise buildings and multipath effects in urban areas significantly reduce the positioning signal accuracy of laser scanning systems, leading to layering and offset issues in the collected point cloud data on the same road. In order to acquire comprehensive and consistent three-dimensional information on the objects, thereby providing field inspection data for large-scale road traffic network scenarios, in this paper, an improved point cloud registration method is proposed to divide the registration process into two stages: elevation registration and plane registration. Elevation registration takes the ground point cloud as the registration primitive, reduces the number of point clouds through curvature down-sampling, and constrains the feature point sequence with a fixed range to provide a good initial pose for fine registration. The plane registration first inherits the elevation registration parameters, combining the dynamic distance parameters of spherical region step based on the median, using robust multi-scale loss functions to address residual points, effective adjacent point pairs are selected to obtain the spatial transformation matrix, and realizes accurate registration. Experimental results with multiple sets of urban point cloud data show that the root mean square error of point cloud registration can be controlled within 0.06m, achieving a relatively superior registration accuracy, it can provide detailed prior data for measurement information analysis.

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Tightly coupled integration of vector HD map, LiDAR, GNSS, and INS for precise vehicle navigation in GNSS-challenging environment

Cited by 2 publications

References 39 publications

Remote marine precise point positioning with baseline length and troposphere-constrained models of the receivers for the oceanographic research vessel

Remote marine precise point positioning with baseline length and troposphere-constrained models of the receivers for the oceanographic research vessel

A precise registration method for large-scale urban point clouds based on phased and spatial geometric features

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