LiDAR Feature Outlier Mitigation Aided by Graduated Non-convexity Relaxation for Safety-critical Localization in Urban Canyons https://doi.org/10.1109/PLANS53410.2023.10139983

Jiachen Zhang, Weisong Wen, Li Ta Hsu, Zheng Gong, Zhongzhe Su

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)

Abstract

Safety-critical localization is essential for unmanned autonomous systems. LiDAR localization gains great popularity in urban canyons due to its high ranging accuracy. Inheriting from the integrity monitoring theory for GNSS, safety-certifiable LiDAR localization first consists in fault detection and exclusion (FDE). In face of numerous LiDAR measurements, conventional chi-square test for FDE is computationally intractable. What's more, inliers could be mistakenly excluded without reconsideration. This paper proposes a computationally tractable and flexible FDE method. It's realized via outlier mitigation aided by graduated non-convexity (GNC) relaxation. The two novel loss functions truncated least square (TLS) and the Geman McClure (GM) are combined respectively. The outlier-mitigated planar-feature-based LiDAR localization is formulated with GNC and TLS or GM. More importantly, a triple-layer optimization method is proposed to solve the localization formulation. Besides the typical GNC relaxation, the control parameter is taken into consideration for tuning the outliers resistance degree. The outlier mitigated pose estimation and the weightings ranging from 0 to 1 for the exploited LiDAR measurements are finally produced. Extensive experiments of the proposed method is conducted on urban dataset. What's more, considering that TSL and GM provides distinct outlier mitigation patterns, the performances from them are investigated and compared.

Original languageEnglish
Title of host publication2023 IEEE/ION Position, Location and Navigation Symposium, PLANS 2023 https://doi.org/10.1109/PLANS53410.2023.101399 83
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages660-664
Number of pages5
ISBN (Electronic)9781665417723
DOIs
Publication statusPublished - Apr 2023
Event2023 IEEE/ION Position, Location and Navigation Symposium, PLANS 2023 - Monterey, United States
Duration: 24 Apr 202327 Apr 2023

Publication series

Name2023 IEEE/ION Position, Location and Navigation Symposium, PLANS 2023

Conference

Conference2023 IEEE/ION Position, Location and Navigation Symposium, PLANS 2023
Country/TerritoryUnited States
CityMonterey
Period24/04/2327/04/23

Keywords

  • 3D LiDAR
  • fault detection and exclusion
  • graduated non-convexity relaxation
  • satety-critical localization
  • urban canyons

ASJC Scopus subject areas

  • Instrumentation
  • Aerospace Engineering
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Electronic, Optical and Magnetic Materials
  • Control and Optimization

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