Laser & Optoelectronics Progress, Volume. 60, Issue 4, 0410014(2023)
Laser Simultaneous Localization and Mapping Algorithm Based on Adaptive Features and Closed-Loop Optimization
Fig. 1. FAST-SAM algorithm overall framework
Fig. 2. Schematic of adaptive curvature calculation based on depth change
Fig. 3. Comparison of feature extraction at different distances. (a) (b) (c) Original feature extraction effects at distances of 5, 15, 30 m respectively; (d) (e) (f) effects of proposed feature extraction at distances of 5, 15, 30 m respectively
Fig. 4. Effect maps of filtering feature points of ground point cloud. (a) Before filtering out ground feature points;(b) after filtering out ground feature points
Fig. 5. Scan Context descriptor diagram
Fig. 6. Flow chart of SC-ICP algorithm
Fig. 7. Campus data collection platform
Fig. 8. Global trajectory error on Park dataset
Fig. 9. Global trajectory error on KITTI 27 dataset
Fig. 10. Global point cloud map comparison on KITTI 27. (a) Proposed algorithm; (b) LIO-SAM; (c) LEGO-LOAM; (d) A-LOAM
Fig. 11. Absolute/relative pose error global distribution. (a) Proposed algorithm; (b) LIO-SAM; (c) LEGO-LOAM; (d) A-LOAM
Fig. 12. Satellite map of campus dataset
Fig. 13. Comparison of mapping of each algorithm on campus dataset. (a) Proposed algorithm; (b) LIO-SAM; (c) LEGO-LOAM; (d) A-LOAM
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Hejun Wei, Enyong Xu, Bing Han, Yanmei Meng, Jin Wei, Zhengqiang Li. Laser Simultaneous Localization and Mapping Algorithm Based on Adaptive Features and Closed-Loop Optimization[J]. Laser & Optoelectronics Progress, 2023, 60(4): 0410014
Category: Image Processing
Received: Nov. 26, 2021
Accepted: Jan. 5, 2022
Published Online: Feb. 13, 2023
The Author Email: Meng Yanmei (gxu_mengyun@163.com)