Researching | A laser inertial SLAM approach based on planar expansion and constrained optimization

Opto-Electronic Engineering, Volume. 51, Issue 4, 230279-1(2024)

A laser inertial SLAM approach based on planar expansion and constrained optimization

Wenxue Hu1... Zehua Wang2, Cheng Yu2, Kui Yang1 and Dongtai Liang1,* |Show fewer author(s)

Author Affiliations

¹School of Mechanical Engineering and Mechanics, Ningbo University, Ningbo, Zhejiang 315211, China

²Quanhang Technology Co., Ltd., Ningbo, Zhejiang 315100, China

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References(23)

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[3] T X Shan, B Englot. LeGO-LOAM: lightweight and ground-optimized lidar odometry and mapping on variable terrain, 4758-4765(2018). https://doi.org/10.1109/IROS.2018.8594299

[4] P J Besl, N D McKay. A method for registration of 3-D shapes. IEEE Trans Pattern Anal Mach Intell, 14, 239-256(1992).

[5] C Qin, H Y Ye, C E Pranata et al. LINS: a lidar-inertial state estimator for robust and efficient navigation, 8899-8906(2020). https://doi.org/10.1109/ICRA40945.2020.9197567

[6] T X Shan, B Englot, D Meyers et al. LIO-SAM: tightly-coupled lidar inertial odometry via smoothing and mapping, 5135-5142(2020). https://doi.org/10.1109/IROS45743.2020.9341176

[7] W Xu, F Zhang. FAST-LIO: a fast, robust lidar-inertial odometry package by tightly-coupled iterated Kalman filter. IEEE Robot Autom Lett, 6, 3317-3324(2021).

[8] J R Lin, F Zhang. R3LIVE: a robust, real-time, RGB-colored, LiDAR-inertial-visual tightly-coupled state estimation and mapping package, 10672-10678(2022). https://doi.org/10.1109/ICRA46639.2022.9811935

[9] Y Y Li, N Brasch, Y D Wang et al. Structure-SLAM: low-drift monocular slam in indoor environments. IEEE Robot Autom Lett, 5, 6583-6590(2020).

[10] W S Grant, R C Voorhies, L Itti. Efficient Velodyne SLAM with point and plane features. Auton Robots, 43, 1207-1224(2019).

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[12] M Kaess. Simultaneous localization and mapping with infinite planes, 4605-4611(2015). https://doi.org/10.1109/ICRA.2015.7139837

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[14] L P Zhou, S Z Wang, M Kaess. π-LSAM: LiDAR smoothing and mapping with planes, 5751-5757(2021). https://doi.org/10.1109/ICRA48506.2021.9561933

[15] X Y Chen, P X Wu, G Li et al. LIO-PPF: fast LiDAR-inertial odometry via incremental plane pre-fitting and skeleton tracking, 1458-1465(2023). https://doi.org/10.1109/IROS55552.2023.10341524

[16] F C Zhu, Y F Ren, F Zhang. Robust real-time LiDAR-inertial initialization, 948-3955(2022). https://doi.org/10.1109/IROS47612.2022.9982225

[17] T Qin, P L Li, S J Shen. VINS-mono: a robust and versatile monocular visual-inertial state estimator. IEEE Trans Robot, 34, 1004-1020(2018).

[18] Y K Liu, Y Q Li, H Y Liu et al. An improved RANSAC algorithm for point cloud segmentation of complex building roofs. J Geo-Inf Sci, 23, 1497-1507(2021).

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Wenxue Hu, Zehua Wang, Cheng Yu, Kui Yang, Dongtai Liang. A laser inertial SLAM approach based on planar expansion and constrained optimization[J]. Opto-Electronic Engineering, 2024, 51(4): 230279-1

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Paper Information

Category: Article

Received: Nov. 16, 2023

Accepted: Feb. 8, 2024

Published Online: Jul. 8, 2024

The Author Email: Liang Dongtai (梁冬泰)

DOI:10.12086/oee.2024.230279

Topics

laser devices and laser physics

Lasers and Laser Optics

laser manufacturing

Instrumentation, Measurement and Metrology