AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM

IF 3.1 3区地球科学 Q1 ENGINEERING, AEROSPACE

Navigation-Journal of the Institute of Navigation Pub Date : 2022-01-01 DOI:10.33012/navi.527

W. Wen, L. Hsu

引用次数: 6

Abstract

— 3D LiDAR-based simultaneous localization and mapping (SLAM) is a well-recognized solution for mapping and localization applications. However, the typical 3D LiDAR sensor (e.g. Velodyne HDL-32E) only provides a very limited field of view vertically. As a result, the vertical accuracy of pose estimation is suffered. This paper aims to alleviate this problem by detecting the absolute ground plane to constrain the vertical pose estimation. Different from the conventional relative plane constraint, this paper employs the absolute plane distance to refine the position in the z-axis and the norm vector of the ground plane to constrain the attitude drift. Finally, relative positioning from LiDAR odometry, constraint from ground plane detection, and loop closure are integrated under a proposed factor graph-based 3D LiDAR SLAM framework (AGPC-SLAM). The effectiveness is verified using several datasets collected in scenes of Hong Kong.

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AGPC-SLAM:绝对地平面约束三维激光雷达SLAM

-基于3D激光雷达的同步定位和地图(SLAM)是一种公认的地图和定位应用解决方案。然而，典型的3D激光雷达传感器(例如Velodyne HDL-32E)只能提供非常有限的垂直视野。这就影响了姿态估计的垂直精度。本文旨在通过检测绝对地平面来约束垂直姿态估计来缓解这一问题。与传统的相对平面约束不同，本文采用绝对平面距离来细化z轴位置，采用地平面范数向量来约束姿态漂移。最后，在提出的基于因子图的三维激光雷达SLAM框架(AGPC-SLAM)下，将激光雷达里程计的相对定位、地平面检测的约束和环路闭合集成在一起。利用香港多个场景的数据集验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Navigation-Journal of the Institute of Navigation ENGINEERING, AEROSPACE-REMOTE SENSING

CiteScore

5.60

自引率

13.60%

发文量

期刊介绍： NAVIGATION is a quarterly journal published by The Institute of Navigation. The journal publishes original, peer-reviewed articles on all areas related to the science, engineering and art of Positioning, Navigation and Timing (PNT) covering land (including indoor use), sea, air and space applications. PNT technologies of interest encompass navigation satellite systems (both global and regional), inertial navigation, electro-optical systems including LiDAR and imaging sensors, and radio-frequency ranging and timing systems, including those using signals of opportunity from communication systems and other non-traditional PNT sources. Articles about PNT algorithms and methods, such as for error characterization and mitigation, integrity analysis, PNT signal processing and multi-sensor integration, are welcome. The journal also accepts articles on non-traditional applications of PNT systems, including remote sensing of the Earth’s surface or atmosphere, as well as selected historical and survey articles.