Infrared and Laser Engineering, Volume. 52, Issue 9, 20220839(2023)
Tightly coupled LiDAR SLAM method for unknown environment
Figures & Tables(11)
Table 1. Algorithm performance comparision
View tableView in ArticleTable 1. Algorithm performance comparision
Item Proposed LIO-SAM A-LOAM Odometry drift/m 0.12 1.34 4.56 Scene restoration degree 99.71% 98.25% 94.06%
Table 2. Evaluation parameters of loop detaction
View tableView in ArticleTable 2. Evaluation parameters of loop detaction
Algorithm /Fact Loop closure Not loop closure Loop closure TP FP Not loop closure FN TN
Table 3. Comparison of loop detection results
View tableView in ArticleTable 3. Comparison of loop detection results
Drift/m Proposed LIO-SAM precision recall precision recall 0-5 20/20 20/20 20/20 20/20 5-10 20/20 20/20 14/14 14/20 10-15 19/19 19/20 4/4 4/20
Table 4. Comparison of single frame run time
View tableView in ArticleTable 4. Comparison of single frame run time
Dataset A-LOAM /ms LIO-SAM /ms Proposed /ms Long corridor 22.4 12.2 13.4 Fast rotating scene I 139.2 67.6 67.8 Fast rotating scene II 99.6 58.3 58.7 Fast rotating scene III 114.7 57.1 57.6 Fast rotating scene IV 92.0 58.1 58.5 Fast rotating scene V 198.2 63.6 64.0 Fast rotating scene VI 294.4 57.8 58.1
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Ronghua Li, Yufeng Qi, Hui Xie, Xingyuan Han. Tightly coupled LiDAR SLAM method for unknown environment[J]. Infrared and Laser Engineering, 2023, 52(9): 20220839
Paper Information
Category: Lasers & Laser optics
Received: Nov. 22, 2022
Accepted: --
Published Online: Oct. 23, 2023
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