A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time operation under challenging perceptual conditions. LOCUS (Lidar Odometry for Consistent operation in Uncertain Settings), provides an accurate multi-stage scan matching unit equipped with an health-aware sensor integration module for seamless fusion of additional sensing modalities. We evaluate the performance of the proposed system against state-of-the-art techniques in perceptually challenging environments, and demonstrate top-class localization accuracy along with substantial improvements in robustness to sensor failures. We then demonstrate real-time performance of LOCUS on various types of robotic mobility platforms involved in the autonomous exploration of the Satsop power plant in Elma, WA where the proposed system was a key element of the CoSTAR team's solution that won first place in the Urban Circuit of the DARPA Subterranean Challenge.

中文翻译：

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LOCUS：以多传感器激光雷达为中心的解决方案，用于实时高精度里程计和 3D 测绘


可靠的里程计源是在极端环境下运行的下一代机器人实现复杂自主行为的先决条件。在这项工作中，我们提出了一种高精度激光雷达测距系统，可在具有挑战性的感知条件下实现稳健和实时的操作。 LOCUS（在不确定设置下实现一致操作的激光雷达里程计）提供了精确的多级扫描匹配单元，配备了健康感知传感器集成模块，可无缝融合其他传感模式。我们在感知上具有挑战性的环境中针对最先进的技术评估了所提出的系统的性能，并展示了顶级的定位精度以及对传感器故障的鲁棒性的显着改进。然后，我们在参与华盛顿州埃尔玛 Satsop 发电厂自主探索的各种类型机器人移动平台上演示 LOCUS 的实时性能，其中所提出的系统是 CoSTAR 团队解决方案的关键要素，该解决方案赢得了城市竞赛第一名DARPA 地下挑战赛赛道。