Tightly Coupled 3D Lidar Inertial SLAM for Ground Robot
Abstract
:1. Introduction
- We present a lidar inertial tightly coupled SLAM method for robot 6DOF state estimation, which uses the factor graph to fuse multi-modality measurements from lidar, IMU, and GPS.
- We use ground factors to constrain the robot’s trajectory estimation drifting along the altitude direction in outdoor non-planar environments.
- The proposed method has been tested extensively on public datasets and in real-world environments. Compared with popular lidar SLAM methods, our accuracy is improved.
2. Related Work
3. Tightly Coupled Lidar Inertial Odometry
3.1. System Overview
3.2. IMU Preintegration Factor
3.3. Lidar Odometry Factor
3.4. Ground Factor
3.5. Loop Closure Factor
3.6. GPS Factor
4. Experiments and Analysis
4.1. Experimental Equipment
4.2. Experiments on Public Datasets
4.3. Experiments on PARK and BLOCK
5. Conclusions and Future Work
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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APPROACH | x[m] | y[m] | z[m] | trans[m] | yaw[deg] | pitch[deg] | roll[deg] | rot[deg] |
---|---|---|---|---|---|---|---|---|
A-LOAM | 1.183 | 1.216 | 1.752 | 2.412 | 0.725 | 0.548 | 0.740 | 1.172 |
LIO-MAPPING | 0.588 | 0.692 | 0.845 | 1.247 | 0.433 | 0.601 | 0.516 | 0.903 |
LIO-SAM | 0.435 | 0.646 | 0.817 | 1.129 | 0.497 | 0.528 | 0.563 | 0.918 |
ours | 0.487 | 0.459 | 0.390 | 0.775 | 0.514 | 0.392 | 0.267 | 0.701 |
APPROACH | x[m] | y[m] | z[m] | trans[m] | yaw[deg] | pitch[deg] | roll[deg] | rot[deg] |
---|---|---|---|---|---|---|---|---|
A-LOAM | 1.873 | 1.932 | 4.175 | 4.967 | 1.142 | 1.311 | 0.905 | 1.960 |
LIO-MAPPING | 0.766 | 0.824 | 3.590 | 3.762 | 0.581 | 0.727 | 0.814 | 1.236 |
LIO-SAM | 0.581 | 0.893 | 3.203 | 3.376 | 0.564 | 0.740 | 0.739 | 1.188 |
ours | 0.617 | 0.649 | 0.257 | 0.932 | 0.692 | 0.392 | 0.271 | 0.840 |
APPROACH | x[m] | y[m] | z[m] | trans[m] | yaw[deg] | pitch[deg] | roll[deg] | rot[deg] |
---|---|---|---|---|---|---|---|---|
A-LOAM | 2.089 | 1.826 | 4.523 | 5.306 | 0.869 | 0.944 | 0.826 | 1.526 |
LIO-MAPPING | 1.761 | 1.940 | 8.825 | 9.206 | 0.759 | 0.840 | 0.738 | 1.351 |
LIO-SAM | 1.583 | 1.435 | 6.102 | 6.465 | 0.608 | 0.563 | 0.833 | 1.175 |
ours | 0.537 | 0.621 | 0.482 | 0.952 | 0.763 | 0.461 | 0.328 | 0.950 |
APPROACH | x[m] | y[m] | z[m] | trans[m] | yaw[deg] | pitch[deg] | roll[deg] | rot[deg] |
---|---|---|---|---|---|---|---|---|
lio-only | 1.809 | 1.946 | 5.651 | 6.244 | 0.836 | 1.120 | 0.964 | 1.698 |
lio-ground | 1.913 | 1.857 | 1.214 | 2.929 | 0.734 | 0.491 | 0.578 | 1.055 |
lio-loop | 1.370 | 1.238 | 3.644 | 4.085 | 0.705 | 0.514 | 0.810 | 1.191 |
lio-gps | 1.215 | 1.008 | 4.736 | 5.087 | 0.923 | 0.706 | 0.625 | 1.319 |
ours-finale | 0.571 | 0.612 | 0.429 | 0.941 | 0.529 | 0.388 | 0.326 | 0.733 |
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Li, D.; Sun, B.; Liu, R.; Xue, R. Tightly Coupled 3D Lidar Inertial SLAM for Ground Robot. Electronics 2023, 12, 1649. https://doi.org/10.3390/electronics12071649
Li D, Sun B, Liu R, Xue R. Tightly Coupled 3D Lidar Inertial SLAM for Ground Robot. Electronics. 2023; 12(7):1649. https://doi.org/10.3390/electronics12071649
Chicago/Turabian StyleLi, Daosheng, Bo Sun, Ruyu Liu, and Ruilei Xue. 2023. "Tightly Coupled 3D Lidar Inertial SLAM for Ground Robot" Electronics 12, no. 7: 1649. https://doi.org/10.3390/electronics12071649