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Open AccessArticle
VE-LIOM: A Versatile and Efficient LiDAR-Inertial Odometry and Mapping System
by
Yuhang Gao
Yuhang Gao and
Long Zhao
Long Zhao *
School of Automation Science and Electrical Engineering, Beihang University, Beiijng 100191, China
*
Author to whom correspondence should be addressed.
Remote Sens. 2024, 16(15), 2772; https://doi.org/10.3390/rs16152772 (registering DOI)
Submission received: 4 June 2024
/
Revised: 15 July 2024
/
Accepted: 27 July 2024
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Published: 29 July 2024
Abstract
LiDAR has emerged as one of the most pivotal sensors in the field of navigation, owing to its expansive measurement range, high resolution, and adeptness in capturing intricate scene details. This significance is particularly pronounced in challenging navigation scenarios where GNSS signals encounter interference, such as within urban canyons and indoor environments. However, the copious volume of point cloud data poses a challenge, rendering traditional iterative closest point (ICP) methods inadequate in meeting real-time odometry requirements. Consequently, many algorithms have turned to feature extraction approaches. Nonetheless, with the advent of diverse scanning mode LiDARs, there arises a necessity to devise unique methods tailored to these sensors to facilitate algorithm migration. To address this challenge, we propose a weighted point-to-plane matching strategy that focuses on local details without relying on feature extraction. This improved approach mitigates the impact of imperfect plane fitting on localization accuracy. Moreover, we present a classification optimization method based on the normal vectors of planes to further refine algorithmic efficiency. Finally, we devise a tightly coupled LiDAR-inertial odometry system founded upon optimization schemes. Notably, we pioneer the derivation of an online gravity estimation method from the perspective of manifold optimization, effectively minimizing the influence of gravity estimation errors introduced during the initialization phase on localization accuracy. The efficacy of the proposed method was validated through experimentation employing various LiDAR sensors. The outcomes of indoor and outdoor experiments substantiate its capability to furnish real-time and precise localization and mapping results.
Share and Cite
MDPI and ACS Style
Gao, Y.; Zhao, L.
VE-LIOM: A Versatile and Efficient LiDAR-Inertial Odometry and Mapping System. Remote Sens. 2024, 16, 2772.
https://doi.org/10.3390/rs16152772
AMA Style
Gao Y, Zhao L.
VE-LIOM: A Versatile and Efficient LiDAR-Inertial Odometry and Mapping System. Remote Sensing. 2024; 16(15):2772.
https://doi.org/10.3390/rs16152772
Chicago/Turabian Style
Gao, Yuhang, and Long Zhao.
2024. "VE-LIOM: A Versatile and Efficient LiDAR-Inertial Odometry and Mapping System" Remote Sensing 16, no. 15: 2772.
https://doi.org/10.3390/rs16152772
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