Laser‐Based Navigation

摘要

Laser-based sensors have been used extensively in robotics and aerospace applications for a variety of tasks, including navigation, collision avoidance, and mapping. This chapter discusses the use of laser-based sensors in estimating the platform pose, and in some cases, the change of pose over time. It begins with a short overview of laser ranging technologies that can be used for navigation purposes, including various types of scanners and imagers. The chapter defines a laser-based technology taxonomy based on observables, and addresses two approaches to laser-based navigation: featureless methods and feature-based methods. The chapter addresses some general considerations when working with Light Detection and Ranging (LiDAR)-based navigation systems. A commercial LiDAR system today is capable of millimeter- or centimeter-level ranging accuracy. However, some of the LiDARs may have originally been designed for other purposes, such as object detection.