Laser & Optoelectronics Progress, Volume. 62, Issue 8, 0815001(2025)
Lidar SLAM Algorithm Based on Point Cloud Geometry and Intensity Information
Figures & Tables(13)
Fig. 3. Schematic diagram of cylindrical block generation. (a) Schematic diagram of point cloud division into cylinders; (b) schematic diagram of subspace division within each cylinder
Fig. 5. Trajectory diagrams and local enlarged diagrams by different algorithms on the KITTI dataset. (a) Sequence 00; (b) sequence 05; (c) sequence 09
Fig. 8. Trajectory diagrams of ablation experiment for loop detection. (a) Sequence 00; (b) sequence 05
Fig. 9. Trajectory diagrams of ablation experiment for feature descriptor. (a) Sequence 00; (b) sequence 05
Table 1. Comparison of ATE for various algorithms on sequence 00, 05, and 09 of the KITTI dataset
View tableTable 1. Comparison of ATE for various algorithms on sequence 00, 05, and 09 of the KITTI dataset
Sequence Algorithm Maximum Mean Median Minimum RMSE STD 00 A-LOAM 15.79 6.34 5.14 0.71 7.55 4.10 LeGO-LOAM 11.07 3.56 3.07 0.17 4.14 2.11 SC-LeGO-LOAM 4.50 2.39 2.26 0.26 2.60 1.03 ICPSC［ 19 ］5.07 2.15 0.08 — — — Proposed 4.03 1.72 1.59 0.16 1.91 0.84 05 A-LOAM 10.00 2.65 2.22 0.83 3.12 1.64 LeGO-LOAM 8.12 2.26 1.95 0.40 2.53 1.15 SC-LeGO-LOAM 2.86 1.83 1.78 0.54 1.89 0.49 ICPSC［ 19 ］— — — — — — Proposed 1.99 1.07 1.02 0.14 1.16 0.45 09 A-LOAM 18.74 7.39 5.75 0.26 9.44 5.87 LeGO-LOAM 9.50 3.97 2.92 0.48 4.72 2.56 SC-LeGO-LOAM 9.39 3.77 2.62 0.34 4.60 2.65 ICPSC［ 19 ］3.78 1.54 1.47 — — — Proposed 3.70 1.55 1.45 0.21 1.68 0.64
Table 2. Comparison of ATE for various algorithms on the MULRAN dataset
View tableTable 2. Comparison of ATE for various algorithms on the MULRAN dataset
Algorithm Mean RMSE DCC-01 DCC-02 KAIST-01 KAIST-02 RS-01 RS-02 DCC-01 DCC-02 KAIST-01 KAIST-02 RS-01 RS-02 A-LOAM 49.62 28.39 43.56 34.58 86.71 117.56 88.67 33.79 53.63 40.75 106.08 136.83 LIO-SAM 29.46 24.39 4.85 4.49 64.99 66.91 32.80 27.22 5.67 5.52 71.64 78.95 LeGO-LOAM 31.16 24.86 25.55 21.01 57.90 69.06 34.66 28.14 31.05 25.16 70.98 81.49 SC-LeGO-LOAM 6.36 5.33 4.64 5.60 21.95 27.89 6.74 6.23 5.36 7.20 25.24 31.71 Proposed 5.42 4.13 3.22 4.49 8.54 11.93 5.76 4.44 3.55 5.44 9.63 13.59
Table 3. ATE Comparison of ablation experiments for loop detection on the sequence 00, 05 of the KITTI dataset
View tableTable 3. ATE Comparison of ablation experiments for loop detection on the sequence 00, 05 of the KITTI dataset
Sequence Algorithm Maximum Mean Median Minimum RMSE STD 00 LeGO-LOAM 11.07 3.56 3.07 0.17 4.14 2.11 Proposed+NL 9.51 2.40 2.13 0.13 2.89 1.61 Proposed 4.03 1.72 1.59 0.16 1.91 0.84 05 LeGO-LOAM 8.12 2.26 1.95 0.40 2.53 1.15 Proposed+NL 4.97 1.97 1.98 0.72 2.05 0.56 Proposed 1.99 1.07 1.02 0.14 1.16 0.45
Table 4. ATE Comparison of ablation experiments for feature descriptor
View tableTable 4. ATE Comparison of ablation experiments for feature descriptor
Sequence Algorithm Maximum Mean Median Minimum RMSE STD 00 Proposed +NL 9.51 2.40 2.13 0.13 2.89 1.61 Proposed +SC 6.70 2.24 2.01 0.11 2.50 1.12 Proposed +ISC 4.79 2.12 2.00 0.28 2.29 0.86 Proposed 4.03 1.72 1.59 0.16 1.91 0.84 05 Proposed +NL 4.97 1.97 1.98 0.72 2.05 0.56 Proposed +SC 4.79 1.36 1.28 0.40 1.50 0.61 Proposed +ISC 3.80 1.23 1.21 0.20 1.32 0.48 Proposed 1.99 1.07 1.02 0.14 1.16 0.45
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Long Peng, Weigang Li, Qifeng Wang, Huan Yi. Lidar SLAM Algorithm Based on Point Cloud Geometry and Intensity Information[J]. Laser & Optoelectronics Progress, 2025, 62(8): 0815001
Paper Information
Category: Machine Vision
Received: Aug. 13, 2024
Accepted: Sep. 24, 2024
Published Online: Mar. 24, 2025
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