Computational Mapping of the Ground Reflectivity with Laser Scanners

TL;DR

This paper introduces a novel data-driven computational framework for mapping ground reflectivity using multiple laser scanners on mobile robots, emphasizing edge preservation and measurement variation handling.

Contribution

The proposed framework uniquely combines gradient-based map reconstruction, subset fusion, and sparse regularization to improve reflectivity maps without additional sensor calibration.

Findings

Outperforms existing methods in map contrast and artifact removal

Achieves de-noising and map-stitching without extra calibration

Validated on autonomous vehicle experiments

Abstract

In this investigation we focus on the problem of mapping the ground reflectivity with multiple laser scanners mounted on mobile robots/vehicles. The problem originates because regions of the ground become populated with a varying number of reflectivity measurements whose value depends on the observer and its corresponding perspective. Here, we propose a novel automatic, data-driven computational mapping framework specifically aimed at preserving edge sharpness in the map reconstruction process and that considers the sources of measurement variation. Our new formulation generates map-perspective gradients and applies sub-set selection fusion and de-noising operators to these through iterative algorithms that minimize an $\ell_1$ sparse regularized least squares formulation. Reconstruction of the ground reflectivity is then carried out based on Poisson's formulation posed as an $\ell_2$ term promoting consistency with the fused gradient of map-perspectives and a term that ensures equality constraints with reference measurement data. We demonstrate our new framework outperforms the capabilities of existing ones with experiments realized on Ford's fleet of autonomous vehicles. For example, we show we can achieve map enhancement (i.e., contrast enhancement), artifact removal, de-noising and map-stitching without requiring an additional reflectivity adjustment to calibrate sensors to the specific mounting and robot/vehicle motion.