Affiliation:
1. College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
Abstract
Solid-state LiDAR offers multiple advantages over mechanism mechanical LiDAR, including higher durability, improved coverage ratio, and lower prices. However, solid-state LiDARs typically possess a narrow field of view, making them less suitable for odometry and mapping systems, especially for mobile autonomous systems. To address this issue, we propose a novel rotating solid-state LiDAR system that incorporates a servo motor to continuously rotate the solid-state LiDAR, expanding the horizontal field of view to 360°. Additionally, we propose a multi-sensor fusion odometry and mapping algorithm for our developed sensory system that integrates an IMU, wheel encoder, motor encoder and the LiDAR into an iterated Kalman filter to obtain a robust odometry estimation. Through comprehensive experiments, we demonstrate the effectiveness of our proposed approach in both outdoor open environments and narrow indoor environments.
Funder
National Science Foundation of China
Natural Science Foundation of Hunan Province
key Laboratory of Space Flight Dynamics Technology
Subject
General Earth and Planetary Sciences
Cited by
1 articles.
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1. Intelligent Systems in Motion;International Journal on Semantic Web and Information Systems;2023-11-01