发表机构
University of Luxembourg; Interdisciplinary Centre for Security, Reliability and Trust (SnT); Faculty of Science, Technology and Medicine, University of Luxembourg（卢森堡大学; 安全、可靠性与信任跨学科中心（SnT）; 卢森堡大学科学、技术与医学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出基于胆固醇球形反射器伪装标记的框架，通过标记约束位姿图优化实现 GNSS 拒止环境下跨平台地理配准，大幅降低轨迹漂移，提升重建一致性。
AI 中文摘要
GNSS拒止环境中的自主运行需要异构建图管线维持一致的空间参考。本文提出一种框架，采用由胆固醇球形反射器（Cholesteric Spherical Reflectors, CSR）制成的伪装匹配 fiducial 标记作为预先勘测的视觉锚点。这些锚点对轻量 LiDAR 里程计轨迹和密集 RTAB-Map 重建结果进行地理配准，使二者输出可在卢森堡使用的大地坐标参考系统 LUREF 中表达，无需运行期间的 GNSS 测量。该方法将粗相似度对齐与标记约束位姿图优化相结合，通过两次手持采集会话评估，模拟 UGV 和 UAV 运行的地面级及高架运动剖面。单个 iMarker 在六个勘测位置间重新定位，重新访问第一个位置以量化漂移校正。标记锚点校正使模拟 UAV 和 UGV 会话的重新访问不一致性分别降低 97.9% 和 99.1%，相比一次性对齐提升了预留锚点预测性能。独立地理配准的密集重建在无需显式跨会话配准的情况下，跨会话最近邻距离中位数达 58 cm。标记处理实时运行，轨迹校正每会话耗时不足 0.25 s。这些结果证明了在 GNSS 拒止运行期间，采用视觉不显眼的预先勘测锚点对轻量里程计和密集重建进行地理配准的概念验证。
英文摘要
Autonomous operation in GNSS-denied environments requires heterogeneous mapping pipelines to maintain a consistent spatial reference. This paper presents a framework using camouflage-matched fiducial markers fabricated from Cholesteric Spherical Reflectors (CSRs) as pre-surveyed visual anchors. The anchors georeference both a lightweight LiDAR-odometry trajectory and a dense RTAB-Map reconstruction, allowing their outputs to be expressed in a common LUREF frame (geodetic coordinate reference system used in Luxembourg) without requiring GNSS measurements during operation. The method combines coarse similarity alignment with marker-constrained pose-graph optimization. We evaluate it using two handheld acquisition sessions with ground-level and elevated motion profiles emulating UGV and UAV operation. A single iMarker was relocated among six surveyed positions, with the first position revisited to quantify drift correction. Marker-anchor correction reduced revisit inconsistency by 97.9% and 99.1% for the UAV- and UGV-emulating sessions, respectively, and improved held-out anchor prediction compared with one-time alignment. Separately georeferenced dense reconstructions achieved a median cross-session nearest-neighbour distance of 58 cm without explicit cross-session registration. Marker processing operated in real time, while trajectory correction required less than 0.25 s per session. These results demonstrate a proof of concept for georeferencing lightweight odometry and dense reconstructions using visually unobtrusive, pre-surveyed anchors during GNSS-denied operation.
Comments14 pages, 5 figures, 5 tables, submitted to SPIE Security + Defence conference
