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Laser & Optoelectronics Progress, Volume. 61, Issue 24, 2428007(2024)

Optimization of Laser SLAM and High Precision 3D Map Construction Based on Hybrid Loop Calibration

Dongdong Nie1、*, Xudong Li2, Xiaoxiao Cheng1, Sichun Li1, Weirun Song1, Kun Wang3, and Jianjun Wang1
Author Affiliations
  • 1College of Mechanical Engineering, Shandong University of Technology, Zibo 255049, Shandong , China
  • 2Shandong Xinzhi Testing Co., Ltd., Zibo 255000, Shandong , China
  • 3Shandong Tianjun Technology Co., Ltd., Zibo 255020, Shandong , China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (8)
    Equations (11)
    References (19)
    Cited By (1)
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    Figures & Tables(8)
    Flow chart of hybrid loopback detection method

    Fig. 1. Flow chart of hybrid loopback detection method

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    Key point extraction effect. (a) Point cloud frame; (b) extracted key points

    Fig. 2. Key point extraction effect. (a) Point cloud frame; (b) extracted key points

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    Platform and scenario of experiment 1. (a) Overall structure of unmanned wheelchair experimental system; (b) indoor experimental scene

    Fig. 3. Platform and scenario of experiment 1. (a) Overall structure of unmanned wheelchair experimental system; (b) indoor experimental scene

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    Comparison of indoor single-feature scene building effects. (a) Original algorithm; (b) improved algorithm

    Fig. 4. Comparison of indoor single-feature scene building effects. (a) Original algorithm; (b) improved algorithm

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    Comparison of local effects in outdoor scene mapping. (a) (b) Full maps; (c)‒(f) partial maps

    Fig. 5. Comparison of local effects in outdoor scene mapping. (a) (b) Full maps; (c)‒(f) partial maps

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    Visualize the results of mapping. (a) Indoor mapping trajectory plane projection; (b) KITTI00 sequence mapping trajectory plane projection

    Fig. 6. Visualize the results of mapping. (a) Indoor mapping trajectory plane projection; (b) KITTI00 sequence mapping trajectory plane projection

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    • Table 1. ATE statistics for KITTI sequence algorithm

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      Table 1. ATE statistics for KITTI sequence algorithm

      ItemHDLProposedLIO-SAMLeGO-LOAM
      Max31.32905328.75473017.91128316.458509
      Mean15.97353512.75721811.62370411.011750
      Median16.25319211.96639810.28232111.801632
      Min0000
      RMSE17.03356514.29967112.22454213.790289
      S.D.5.9151116.4601845.2747386.394695

    • Table 2. RPE statistics for KITTI sequence algorithm

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      Table 2. RPE statistics for KITTI sequence algorithm

      ItemHDLProposedLIO-SAMLeGO-LOAM
      Max14.3872465.95437111.3607433.027121
      Mean0.0647470.0671370.2340650.193014
      Median0.0464240.0463450.1916040.147091
      Min0.00360500.0097070.003120
      RMSE0.2268820.1580570.1591930.181201
      S.D.0.2174470.1430900.1591380.104507
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    Dongdong Nie, Xudong Li, Xiaoxiao Cheng, Sichun Li, Weirun Song, Kun Wang, Jianjun Wang. Optimization of Laser SLAM and High Precision 3D Map Construction Based on Hybrid Loop Calibration[J]. Laser & Optoelectronics Progress, 2024, 61(24): 2428007

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    Paper Information

    Category: Remote Sensing and Sensors

    Received: Mar. 22, 2024

    Accepted: May. 7, 2024

    Published Online: Dec. 19, 2024

    The Author Email:

    DOI:10.3788/LOP240950

    CSTR:32186.14.LOP240950

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology