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Efficient and adaptive lidar-visual-inertial odometry for agricultural unmanned ground vehicle

文献类型：期刊论文

作者Zhao, Zixu1,2; Zhang, Yucheng1; Long, Long1; Lu, Zaiwang1; Shi, Jinglin1
刊名INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
出版日期2022-03-01
卷号19期号:2页码:15
关键词Sensor-fusion SLAM localization agricultural UGV
ISSN号1729-8814
DOI10.1177/17298806221094925
英文摘要The accuracy of agricultural unmanned ground vehicles' localization directly affects the accuracy of their navigation. However, due to the changeable environment and fewer features in the agricultural scene, it is challenging for these unmanned ground vehicles to localize precisely in global positioning system-denied areas with a single sensor. In this article, we present an efficient and adaptive sensor-fusion odometry framework based on simultaneous localization and mapping to handle the localization problems of agricultural unmanned ground vehicles without the assistance of a global positioning system. The framework leverages three kinds of sub-odometry (lidar odometry, visual odometry and inertial odometry) and automatically combines them depending on the environment to provide accurate pose estimation in real time. The combination of sub-odometry is implemented by trading off the robustness and the accuracy of pose estimation. The efficiency and adaptability are mainly reflected in the novel surfel-based iterative closest point method for lidar odometry we propose, which utilizes the changeable surfel radius range and the adaptive iterative closest point initialization to improve the accuracy of pose estimation in different environments. We test our system in various agricultural unmanned ground vehicles' working zones and some other open data sets, and the results prove that the proposed method shows better performance mainly in accuracy, efficiency and robustness, compared with the state-of-art methods.
WOS研究方向Robotics
语种英语
WOS记录号WOS:000789932400001
出版者SAGE PUBLICATIONS INC
源URL[http://119.78.100.204/handle/2XEOYT63/19636]  
专题中国科学院计算技术研究所期刊论文_英文
通讯作者Zhao, Zixu
作者单位1.Chinese Acad Sci, Inst Comp Technol, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Zhao, Zixu,Zhang, Yucheng,Long, Long,et al. Efficient and adaptive lidar-visual-inertial odometry for agricultural unmanned ground vehicle[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2022,19(2):15.
APA Zhao, Zixu,Zhang, Yucheng,Long, Long,Lu, Zaiwang,&Shi, Jinglin.(2022).Efficient and adaptive lidar-visual-inertial odometry for agricultural unmanned ground vehicle.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,19(2),15.
MLA Zhao, Zixu,et al."Efficient and adaptive lidar-visual-inertial odometry for agricultural unmanned ground vehicle".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 19.2(2022):15.

入库方式： OAI收割

来源：计算技术研究所

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