A Novel 3D LiDAR SLAM Based on Directed Geometry Point and Sparse Frame
文献类型：期刊论文
| 作者 | Liang, Shuang2,3 ; Cao, Zhiqiang2,3; Wang, Chengpeng2,3; Yu, Junzhi1,2
|
| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
 |
| 出版日期 | 2021-04-01 |
| 卷号 | 6期号:2页码:374-381 |
| 关键词 | 3D LiDAR SLAM directed geometric point sparse frame point propagation |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2020.3043200 |
| 通讯作者 | Cao, Zhiqiang(zhiqiang.cao@ia.ac.cn) |
| 英文摘要 | 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. |
| WOS关键词 | REGISTRATION |
| 资助项目 | National Natural Science Foundation of China[62073322] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61836015] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000602951000008 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42807]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Cao, Zhiqiang |
| 作者单位 | 1.Peking Univ, Coll Engn, BIC ESAT,Dept Mech & Engn Sci, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liang, Shuang,Cao, Zhiqiang,Wang, Chengpeng,et al. A Novel 3D LiDAR SLAM Based on Directed Geometry Point and Sparse Frame[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2021,6(2):374-381. |
| APA | Liang, Shuang,Cao, Zhiqiang,Wang, Chengpeng,&Yu, Junzhi.(2021).A Novel 3D LiDAR SLAM Based on Directed Geometry Point and Sparse Frame.IEEE ROBOTICS AND AUTOMATION LETTERS,6(2),374-381. |
| MLA | Liang, Shuang,et al."A Novel 3D LiDAR SLAM Based on Directed Geometry Point and Sparse Frame".IEEE ROBOTICS AND AUTOMATION LETTERS 6.2(2021):374-381. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。