Mr. HuiCheng Li Profile

HuiCheng Li

at Beijing Univ of Posts and Telecommunications

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Proceedings Article | 8 July 2022 Paper

Visual-solid-state-LiDAR odometry and mapping

Yiwei Xiong, Aiying Yang, Huicheng Li, Zhao Zhou, Minqi Gao

Proceedings Volume 12280, 1228009 (2022) https://doi.org/10.1117/12.2616536

KEYWORDS: LIDAR, Feature extraction, Cameras, Visualization

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Mapping through 3D lidar remains a popular technology. In the paper, we propose a method based on image to extract point cloud edge features. The image line features are mapped to the point cloud by using the camera internal and external parameter matrix obtained in advance. In addition, we propose an improved region growing method to extract the plane features in the point cloud, which has higher robustness than the method based on principal component analysis. In indoor experimental scenarios, we compare the existing methods (Li-Ho and Lili-OM) with our proposed methods. The results verified that our method can achieve a higher accuracy and frame rate.

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