Improved Lidar Odometer Based on Motion Prediction

Zheng Qin; Xiangchuan Gao; Zhengkang Chen; Yifan Lu; Lingbo Qu

doi:10.3788/LOP222261

Laser & Optoelectronics Progress, Volume. 61, Issue 5, 0528002(2024)

Improved Lidar Odometer Based on Motion Prediction

Zheng Qin¹, Xiangchuan Gao^1,2、*, Zhengkang Chen^1,3, Yifan Lu^1,3, and Lingbo Qu⁴

Author Affiliations

¹College of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, Henan, China

²Advanced Mobile Communication and Application Engineering Research Center of Henan Province, Zhengzhou 450001, Henan, China

³International Joint Research Center for Electronic Materials and Systems, Zhengzhou University, Zhengzhou 450001, Henan, China

⁴College of Chemistry, Zhengzhou University, Zhengzhou 450001, Henan, China

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Figures & Tables(16)

Fig. 1. Frame diagram of lidar odometer

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Fig. 2. Select the keyframe diagram

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Fig. 3. Motion prediction model

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Fig. 4. Flow chart of motion prediction algorithm

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Fig. 5. Local map construction diagram

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Fig. 6. Improved overall structure of lidar odometer

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Fig. 7. Kitti data acquisition vehicle

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Fig. 8. Map 1 comparison of NDT and OURS. (a) (b) Trajectory; (c) (d) RPE; (e) (f) APE

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Fig. 9. Map 2 comparison of NDT and OURS. (a) (b) Trajectory; (c) (d) RPE; (e) (f) APE

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Fig. 10. Map 1 comparison of motion track between NDT and OURS. (a) Z axis of motion trajectory; (b) 3D direction data of motion trajectory

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Fig. 11. Map 2 comparison of motion track between NDT and OURS. (a) Z axis of motion trajectory; (b) 3D direction data of motion trajectory

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Table 1. Experimental maps information
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Table 1. Experimental maps information
Map sequence Frame Distance /m Time /s
Map 1 4541 3723 471
Map 2 2761 2205 288

Table 2. Evaluation of motion trajectory in map 1 scene
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Table 2. Evaluation of motion trajectory in map 1 scene
Map 1 RPE APE
Max /% Min /% Max /m Mean /m
NDT 1.91 0.24 59.04 25.68
OURS 1.79 0.22 54.05 18.51

Table 3. Evaluation of motion trajectory in map 2 scene
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Table 3. Evaluation of motion trajectory in map 2 scene
Map 2 RPE APE
Max /% Min /% Max /m Mean /m
NDT 1.87 0.16 13.46 5.51
OURS 1.74 0.12 9.58 3.49

Table 4. Map 1 comparison of Z axis data between NDT and OURS
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Table 4. Map 1 comparison of Z axis data between NDT and OURS
Data type TRUTH /m NDT /m OURS /m
Max offset of Z axis 2.04 53.47 17.32
Range of Z axis 3.78 64.53 19.52

Table 5. Map 2 comparison of Z axis data between NDT and OURS
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Table 5. Map 2 comparison of Z axis data between NDT and OURS
Data type TRUTH /m NDT /m OURS /m
Max offset of Z axis 3.06 10.44 4.35
Range of Z axis 3.06 19.46 6.36

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Zheng Qin, Xiangchuan Gao, Zhengkang Chen, Yifan Lu, Lingbo Qu. Improved Lidar Odometer Based on Motion Prediction[J]. Laser & Optoelectronics Progress, 2024, 61(5): 0528002

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