Technology of Graphic & Image
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2188-2193,2199

Odometry and mapping method for coupling LiDAR and IMU

Pang Fan1,2
Wei Shuangfeng1,3,4
Shi Xianjie1
Chen Kai2
1. School of Geomatics & Urban Spatial Informatics, Beijing University of Civil Engineering & Architecture, Beijing 102616, China
2. BGRIMM Technology Group, Beijing 100160, China
3. Engineering Research Center of Representative Building & Architectural Heritage Database of Ministry of Education, Beijing 102616, China
4. Key Laboratory for Urban Spatial Informatics of Ministry of Natural Resources, Beijing 102616, China

Abstract

Aiming at the problems of low accuracy and poor robustness of existing LiDAR odometry methods in outdoor dynamic road scene, this paper proposed a scheme of odometry and mapping based on 3D LiDAR and MEMS IMU. The scheme was consist of four sequential module, namely data preprocessing module, feature extraction considering dynamic obstacles module, laser odometry module and laser mapping module. By using the KITTI data and real scene data, it carried out the qualitative and quantitative accuracy evaluation of the improved scheme and the current popular LOAM and Lego-LOAM schemes. The test results show that the accuracy of the improved scheme is better than LOAM scheme under the real-time requirements of the system, which is equivalent to Lego-LOAM scheme.

Foundation Support

国家自然科学基金资助项目(41601409)
北京市自然科学基金资助项目(8172016)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2020.06.0259
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 7
Section: Technology of Graphic & Image
Pages: 2188-2193,2199
Serial Number: 1001-3695(2021)07-051-2188-06

Publish History

[2021-07-05] Printed Article

Cite This Article

庞帆, 危双丰, 师现杰, 等. 激光雷达惯导耦合的里程计与建图方法 [J]. 计算机应用研究, 2021, 38 (7): 2188-2193,2199. (Pang Fan, Wei Shuangfeng, Shi Xianjie, et al. Odometry and mapping method for coupling LiDAR and IMU [J]. Application Research of Computers, 2021, 38 (7): 2188-2193,2199. )

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  • Application Research of Computers Monthly Journal
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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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