large-scale 3d mapping of subarctic forests · large-scale 3d mapping of subarctic forests philippe...
TRANSCRIPT
![Page 1: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/1.jpg)
Large-scale 3D Mapping of Subarctic Forests
Philippe Babin, Philippe Dandurand, Vladimír Kubelka, Philippe Giguère and François Pomerleau
12th FSR conference, Tokyo, 2019
![Page 2: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/2.jpg)
Subarctic Boreal Forest: Research Opportunity
2/27
![Page 3: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/3.jpg)
Our approachNaive approach
3/27
![Page 4: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/4.jpg)
Applications
4/27
![Page 5: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/5.jpg)
Local WildlifeSnow Fall Path obstacles Uneven Path
Challenge of Field Tests
5/27
![Page 6: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/6.jpg)
Mapping of Subarctic Boreal Forest -
Challenges
Unstructured environment → hard to map
Cold temperatures → noisy sensor
Few visual features due to snow → bad for vision based approaches
6/27
![Page 7: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/7.jpg)
Related Work
Williams et al., 2009 Paton et al., 2016
7/27
![Page 8: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/8.jpg)
Contributions
Large-scale mapping of difficult environments
Novel fusion of IMU and GNSS measurement inside of ICP
Generated maps are crisp and without long term drifts
Introduced optimization to scale to large map
8/27
![Page 9: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/9.jpg)
Dataset Environment
4.1 km of forest path
9/27
![Page 10: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/10.jpg)
10/27
![Page 11: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/11.jpg)
Data Acquisition Platform
GNSS station (RTK)
RS-16 lidar
MTI-30 IMU
10h of battery life
11/27
![Page 12: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/12.jpg)
Iterative Closest Point (ICP)
T ?
12/27
![Page 13: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/13.jpg)
ICPTinit
T
13/27
Iterative Closest Point (ICP)
![Page 14: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/14.jpg)
Iterative Closest Point (ICP)
14/27
![Page 15: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/15.jpg)
Sensor Fusion
Lidar ICP
IMU
GNSS
SLAM
Lidar
Penalty-ICPIMU
GNSS
mappose
Classical approach Our approach
mappose
Covariance [1]pose
[1] D. Landry, F. Pomerleau, and P. Giguère. CELLO-3D: Estimating the Covariance of ICP in the Real World. In ICRA, 2019
15/27
Point cloud
Pose
Covariance
Pose/Covariance
Legend
![Page 16: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/16.jpg)
Prior ICP with penalty ICP no penalty
Map of lake Dataset
350m
16/27
![Page 17: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/17.jpg)
ICP with penalty ICP no penalty
17/27
![Page 18: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/18.jpg)
Crispiness
locally consistent
Prior ICP With penalties ICP Without Penalties
18/27
![Page 19: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/19.jpg)
Prior ICP with penalty ICP no penalty
Map of forest Dataset
500m
19/27
![Page 20: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/20.jpg)
Prior ICP with penalty ICP no penalty
Map of forest Dataset
500m
20/27
![Page 21: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/21.jpg)
Map of skidoo Dataset
ICP no penaltyICP with penaltyPrior
670m
21/27
![Page 22: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/22.jpg)
ICP no penaltyICP with penaltyPrior
670m
22/27
Map of skidoo Dataset
![Page 23: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/23.jpg)
Full Map with Penalty
23/27
![Page 24: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/24.jpg)
Performance improvements
24/27
![Page 25: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/25.jpg)
Future work
25/27
![Page 26: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/26.jpg)
Future work – Project SNOW
26/27
![Page 27: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/27.jpg)
Questions?
27/27
![Page 28: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/28.jpg)
28
![Page 29: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/29.jpg)
Performance improvements
29/26
![Page 30: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/30.jpg)
Results: effect of penalties
30
![Page 31: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/31.jpg)
Penalty-ICP• Leverage ICP’s minimizer for sensor fusion
• Add penalty term based on GNSS and IMU estimate
• Introduced a point to Gaussian cost function
• Minimize Mahalanobis distance instead of the Euclidian distance
31
![Page 32: Large-scale 3D Mapping of Subarctic Forests · Large-scale 3D Mapping of Subarctic Forests Philippe Babin, Philippe Dandurand, Vladimír Kubelka, ... CELLO-3D: Estimating the Covariance](https://reader033.vdocuments.us/reader033/viewer/2022052719/5f0771977e708231d41d02c2/html5/thumbnails/32.jpg)
Full Map
32