CeRVIM Webinar: Simon-Pierre Deschênes, April 29, 2022
- 3177416
- Apr 29, 2022
- 1 min read
CeRVIM Webinar: Lidar Scan Registration Robust to Extreme Motions
Simon-Pierre Deschênes
Dép. d’informatique et de génie logiciel, Université Laval
April 29, 2022, 1:00 p.m.
Abstract
Simultaneous Localization And Mapping (SLAM) algorithms based on point cloud registration have proven effective in mobile robotics over the last decades. However, they are susceptible to failure when a robot sustains extreme velocities and accelerations. For example, this type of motion can take place after a collision, causing lidar scans to be heavily skewed. While point cloud de-skewing methods have been explored in the past to increase localization and mapping accuracy, these methods still rely on highly accurate odometry systems or ideal navigation conditions. In this presentation, a new point cloud registration algorithm taking into account the uncertainty left after de-skewing a point cloud will be presented and its performance in a SLAM algorithm will be analyzed.
The presentation will be given in English and the slides will be in English.
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