A low‐drift and real‐time localisation and mapping method for handheld hemispherical view LiDAR‐IMU integration system

Author:

Duan Xuzhe1ORCID,Hu Qingwu1ORCID,Zhao Pengcheng1ORCID,Yu Fei2,Ai Mingyao1

Affiliation:

1. Wuhan University Wuhan China

2. CCCC Second Highway Consultants Co., Ltd. Wuhan China

Abstract

AbstractThis paper proposes a simultaneous localisation and mapping (SLAM) framework that uses a handheld hemispherical view LiDAR‐IMU integration system. Inspired by the specific characteristic of the hemispherical view LiDAR, a ground segmentation module based on seed points is designed. The ground points are then downsampled to eliminate redundant vertical constraints. The IMU data and the pre‐processed point cloud are used to perform state estimation via a tightly coupled iterative extended Kalman filter (iEKF) to obtain the pose estimation. The automatically detected loop closures provide closed‐loop constraints for the odometry, and a factor graph ensures the global consistency of the map. Data from diverse scenes are collected via a prototype system. Both qualitative and quantitative experiments are carried out to verify the framework's performance. According to the experimental results, our framework achieves low‐drift, high‐coverage and real‐time performance, outperforming the state‐of‐the‐art LiDAR SLAM methods in our handheld hemispherical view LiDAR‐IMU test sites. For the research community's benefit, the dataset is publicly provided for other researchers to compare against.

Funder

Fundamental Research Funds for the Central Universities

Publisher

Wiley

Subject

Earth and Planetary Sciences (miscellaneous),Computers in Earth Sciences,Computer Science Applications,Engineering (miscellaneous)

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. 3D LiDAR SLAM: A survey;The Photogrammetric Record;2024-05-13

2. A Fine Segmentation Method for Building Facade Point Cloud by Integrating Drone Tilt Photography and LiDAR;2024 5th International Conference on Computer Vision, Image and Deep Learning (CVIDL);2024-04-19

3. ALS Point Cloud Semantic Segmentation Based on Graph Convolution and Transformer With Elevation Attention;IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing;2024

4. Backpack LiDAR-Based SLAM With Multiple Ground Constraints for Multistory Indoor Mapping;IEEE Transactions on Geoscience and Remote Sensing;2023

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3