A Data Acquisition Method for Vehicle Geometry Passability Measure

Geometric passability parameters are key for the terrain adaptability of vehicles. In order to replace the current empirically manual measurement methods, we present an automatic acquisition method for measuring vehicle geometry passability parameters with high quality data. A remote control center and a wheeled robot with lidar are used in this method to obtain a point cloud for geometric passability parameters calcutlation at the bottom of vehicles. The data acquisition in this scene is more likely to be misregistered by the instructor due to the majority of ground points. To have a high quality of point cloud, the point cloud registration algorithm is modified by appropriate matching point distribution and pose constraints. The experimental results show that this method performs well and can reliably complete the data acquisition task efficiently.