Computational Mapping of the Ground Reflectivity with Laser Scanners
This work addresses the challenge of accurate ground reflectivity mapping for autonomous vehicles, which is incremental as it builds on existing methods with specific improvements.
The paper tackles the problem of mapping ground reflectivity using multiple laser scanners on mobile robots by proposing a novel computational framework that preserves edge sharpness and handles measurement variations, demonstrating enhanced capabilities such as contrast enhancement, artifact removal, de-noising, and map-stitching without additional sensor calibration on Ford's autonomous vehicle fleet.
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.