再帰的ベイズ比較によるLiDAR計測のオンライン幾何整合性評価
Online Geometric Consistency Assessment of LiDAR Measurements via Recursive Bayesian Comparison
LiDAR点群の位置合わせ誤差を、履歴ボクセル幾何のベイズモデルと現在のサンプリングに適応する参照モデルの予測支持度比較でオンライン検出する手法を提案し、実環境14系列で破損9系列を全て検出した。
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著者: Mingqiao Han, Qigeng Duan, Xuchen Liu, Jinqiang Cui, Xi Chen, Ben M. Chen
分類: cs.RO, eess.SY
原文アブストラクト
LiDAR-based localization and mapping systems produce registered point clouds that serve as geometric measurements for downstream estimation and navigation. Registration errors introduce duplicated surfaces and structural deformation into these measurements. In the absence of an independent reference, online assessment relies on geometry accumulated from earlier measurements. Such assessment requires tolerance to sampling variation and an accumulation process in which observations enter the history only after evaluation. We therefore formulate a recursive Bayesian comparison that couples geometric assessment with history maintenance. A Normal-Inverse-Wishart model represents historical voxel geometry and its uncertainty, while a weak isotropic reference adapts to current sampling. Comparing the marginal predictive support of the same current points under both models yields Normalized Drift Evidence (NDE). Assessment precedes assimilation: positive NDE triggers an alarm and preserves the preceding historical state; otherwise, the current observations update the history. Across 14 real-world sequences totaling approximately 73 min from four platform types, alarms identified all nine corrupted sequences and were absent from all five consistent sequences. In four representative scenarios with event references, first alarms occurred within 0.9 s of the reference times, with no preceding alarms. Cross-backend evaluation demonstrates consistent responses to reconstructed geometry. Ablation and controlled perturbation results establish the roles of uncertainty modeling, recursive history, displacement, and geometric support. Mean processing time is 4.2--6.1 ms per update at 1 Hz. In ten UAV trials, alarms initiated odometry isolation, landing, relocalization, and mission continuation.