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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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    References(19)

    [1] Li X L, Zhou Y E, Bi T F et al. Review on key technologies of lightweight type-aware LiDAR[J]. Chinese Journal of Lasers, 49, 1910002(2022).

    [2] Jiang L, Liu Q, Lei B et al. Identifying and constructing semantic maps based on laser and vision fusions for improving localization performance[J]. Chinese Journal of Lasers, 49, 1810003(2022).

    [3] Shan T X, Englot B. LeGO-LOAM: lightweight and ground-optimized lidar odometry and mapping on variable terrain[C], 4758-4765(2018).

    [4] Zhang J, Singh S. LOAM: lidar odometry and mapping in real-time[EB/OL]. https://www.roboticsproceedings.org/rss10/p07.pdf

    [5] Shan T X, Englot B, Meyers D et al. LIO-SAM: tightly-coupled lidar inertial odometry via smoothing and mapping[C], 5135-5142(2020).

    [6] Koide K, Miura J, Menegatti E. A portable three-dimensional LIDAR-based system for long-term and wide-area people behavior measurement[J]. International Journal of Advanced Robotic Systems, 16, 172988141984153(2019).

    [7] Zhou B D, Li C Y, Chen S B et al. ASL-SLAM: a LiDAR SLAM with activity semantics-based loop closure[J]. IEEE Sensors Journal, 23, 13499-13510(2023).

    [8] Hu J, An Y P, Xu W C et al. 3D object detection based on deep semantics and position information fusion of laser point cloud[J]. Chinese Journal of Lasers, 50, 1010003(2023).

    [9] Chen X, Läbe T, Milioto A et al. OverlapNet: loop closing for LiDAR-based SLAM[EB/OL]. http://arxiv.org/abs/2105.11344v1

    [10] Ma J Y, Zhang J, Xu J T et al. OverlapTransformer: an efficient and yaw-angle-invariant transformer network for LiDAR-based place recognition[J]. IEEE Robotics and Automation Letters, 7, 6958-6965(2022).

    [11] Cattaneo D, Vaghi M, Valada A. LCDNet: deep loop closure detection and point cloud registration for LiDAR SLAM[J]. IEEE Transactions on Robotics, 38, 2074-2093(2022).

    [12] Han C, Chen M, Huang Y H et al. Loop closure detection method of laser SLAM based on global feature descriptor[J]. Journal of Shanghai Jiao Tong University, 56, 1379-1387(2022).

    [13] Kim G, Kim A. Scan context: egocentric spatial descriptor for place recognition within 3D point cloud map[C], 4802-4809(2018).

    [14] Wang H, Wang C, Xie L H. Intensity scan context: coding intensity and geometry relations for loop closure detection[C], 2095-2101(2020).

    [15] Kim G, Choi S, Kim A. Scan context: structural place recognition robust to rotation and lateral variations in urban environments[J]. IEEE Transactions on Robotics, 38, 1856-1874(2022).

    [16] Wang Y, Sun Z Z, Xu C Z et al. LiDAR iris for loop-closure detection[C], 5769-5775(2020).

    [17] Xu M B, Liu X L, Zhong X T et al. Automatic registration method of vehicle-borne laser point cloud combining ground points and rods[J]. Chinese Journal of Lasers, 50, 0210002(2023).

    [18] Cui Y G, Chen X Y L, Zhang Y L et al. BoW3D: bag of words for real-time loop closing in 3D LiDAR SLAM[J]. IEEE Robotics and Automation Letters, 8, 2828-2835(2023).

    [19] Cui Y G, Zhang Y L, Dong J H et al. LinK[EB/OL]. http://arxiv.org/abs/2206.05927v3

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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