Abstract
Research findings on Robotics - Robotics and Automation are discussed in a new report. According to news reporting out of Somerville, Massachusetts, by NewsRx editors, research stated, “Because scanning-LIDAR sensors require finite time to create a point cloud, sensor motion during a scan warps the resulting image, a phenomenon known as motion distortion or rolling shutter. Motion-distortion correction methods exist, but they rely on external measurements or Bayesian filtering over multiple LIDAR scans.” Financial support for this research came from U.S. Department of Transportation Joint Program Office. Our news journalists obtained a quote from the research from Tufts University, “In this letter we propose a novel algorithm that performs snapshot processing to obtain a motion-distortion correction. Snapshot processing, which registers a current LIDAR scan to a reference image without using external sensors or Bayesian filtering, is particularly relevant for localization to a high-definition (HD) map. Our approach, which we call Velocity-corrected Iterative Compact Ellipsoidal Transformation (VICET), extends the wellknown Normal Distributions Transform (NDT) algorithm to solve jointly for both a 6 Degree-of-Freedom (DOF) rigid transform between a scan and a map and a set of 6DOF motion states that describe distortion within the current LIDAR scan.”
NETL
NSTL
IEEE