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A Novel 3D LiDAR SLAM based on Directed Geometry Point and Sparse Frame
IEEE Robotics and Automation Letters ( IF 5.2 ) Pub Date : 2021-04-01 , DOI: 10.1109/lra.2020.3043200
Shuang Liang , Zhiqiang Cao , Chengpeng Wang , Junzhi Yu

Simultaneous localization and mapping is an indispensable yet challenging direction for mobile robots. Attracted by 3D LiDAR with accurate depth information and robustness to illumination variations, many 3D LiDAR SLAM methods based on scan-to-map matching have been developed. However, there is a critical issue of existing approaches, where a large and dense map is generally required to achieve satisfactory localization accuracy, leading to low efficiency of scan-to-map matching. To solve this problem, in this letter, we propose a novel 3D LiDAR SLAM based on directed geometry point (DGP) and sparse frame. The former is used to provide a sparse distribution of points in the spatial dimension and the latter gives rise to a sparse distribution of frames in the temporal sequence. The sparsity of points and frames impove the efficiency of 3D LiDAR SLAM, and the strict data association based on directed geometric points also brings in good accuracy of pose estimation. To compensate the accuracy loss of the localization and mapping caused by frame sparsity, point propagation is proposed to improve the quality of directed geometric points in the map and the accuracy of scan-to-map matching. Also, loop detection and pose graph optimization are conducted for global consistency. The experimental results demonstrate the effectiveness of the proposed method in terms of accuracy and efficiency.

中文翻译:

一种基于定向几何点和稀疏框架的新型 3D LiDAR SLAM

同时定位和建图是移动机器人不可或缺但具有挑战性的方向。受具有准确深度信息和对光照变化鲁棒性的 3D LiDAR 的吸引,已经开发了许多基于扫描到地图匹配的 3D LiDAR SLAM 方法。然而,现有方法存在一个关键问题,即通常需要大而密集的地图才能获得令人满意的定位精度,从而导致扫描到地图匹配的效率低下。为了解决这个问题,在这封信中,我们提出了一种基于定向几何点 (DGP) 和稀疏框架的新型 3D LiDAR SLAM。前者用于提供空间维度中点的稀疏分布,后者导致时间序列中帧的稀疏分布。点和帧的稀疏性提高了 3D LiDAR SLAM 的效率,基于有向几何点的严格数据关联也带来了良好的姿态估计精度。为了弥补因帧稀疏引起的定位和建图精度损失,提出了点传播来提高地图中定向几何点的质量和扫描到地图匹配的精度。此外,为了全局一致性,还进行了循环检测和姿态图优化。实验结果证明了该方法在准确性和效率方面的有效性。提出点传播以提高地图中定向几何点的质量和扫描到地图匹配的准确性。此外,为了全局一致性,还进行了循环检测和姿态图优化。实验结果证明了该方法在准确性和效率方面的有效性。提出点传播以提高地图中定向几何点的质量和扫描到地图匹配的准确性。此外,为了全局一致性,还进行了循环检测和姿态图优化。实验结果证明了该方法在准确性和效率方面的有效性。
更新日期:2021-04-01
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