TY - GEN
T1 - A low-cost and robust mapping and relocalization method base on lidar inertial odometry
AU - Qu, Pengfei
AU - Li, Shenliang
AU - Zhang, Jinyang
AU - Duan, Zhansheng
AU - Mei, Kuizhi
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/15
Y1 - 2021/7/15
N2 - LOAM (lidar odometry and mapping) plays an important role in the field of mobile robot and relocalization is essential for navigation. In this paper, we propose a system of LOAM and real-time relocalization based on a low cost lidar with small FoV (field of view) and IMU. Due to the lack of features in lidar with small FoV, the LOAM algorithm is easy to lose the target and mismatch when turning. We settle this problem by integrating lidar with IMU. To accelerate the matching process in relocalization, our relocalization algorithm is based on the feature points map, not the full map. Finally we demonstrate our system to be accurate and robust by experiments in our school.
AB - LOAM (lidar odometry and mapping) plays an important role in the field of mobile robot and relocalization is essential for navigation. In this paper, we propose a system of LOAM and real-time relocalization based on a low cost lidar with small FoV (field of view) and IMU. Due to the lack of features in lidar with small FoV, the LOAM algorithm is easy to lose the target and mismatch when turning. We settle this problem by integrating lidar with IMU. To accelerate the matching process in relocalization, our relocalization algorithm is based on the feature points map, not the full map. Finally we demonstrate our system to be accurate and robust by experiments in our school.
UR - https://www.scopus.com/pages/publications/85115432616
U2 - 10.1109/RCAR52367.2021.9517575
DO - 10.1109/RCAR52367.2021.9517575
M3 - 会议稿件
AN - SCOPUS:85115432616
T3 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
SP - 257
EP - 262
BT - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
Y2 - 15 July 2021 through 19 July 2021
ER -