Correcting Motion Distortion for LIDAR Scan-to-Map Registration
Matthew McDermott, Jason Rife
Abstract
Because scanning-LIDAR sensors require finite time to create a point cloud, sensor motion during a scan warps the resulting image, a phenomenon known as <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">motion distortion</i> or <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">rolling shutter</i> . Motion-distortion correction methods exist, but they rely on external measurements or Bayesian filtering over multiple LIDAR scans. In this letter we propose a novel algorithm that performs snapshot processing to obtain a motion-distortion correction. Snapshot processing, which registers a current LIDAR scan to a reference image without using external sensors or Bayesian filtering, is particularly relevant for localization to a high-definition (HD) map. Our approach, which we call Velocity-corrected Iterative Compact Ellipsoidal Transformation (VICET), extends the well-known Normal Distributions Transform (NDT) algorithm to solve jointly for both a 6 Degree-of-Freedom (DOF) rigid transform between a scan and a map and a set of 6DOF motion states that describe distortion within the current LIDAR scan. Using experiments, we show that VICET achieves significantly higher accuracy than NDT or Iterative Closest Point (ICP) algorithms when localizing a distorted raw LIDAR scan against an undistorted HD Map. We recommend the reader explore our open-source code and visualizations at <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://github.com/mcdermatt/VICET</uri> , which supplements this manuscript.