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Laser & Optoelectronics Progress, Volume. 61, Issue 14, 1415007(2024)

LiDAR Inertial SLAM Algorithm Based on IESKF with Factor Graph Optimization

Zhifei Wei, Shaosheng Fan*, and Mingxuan Xiong
Author Affiliations
  • School of Electrical & Information Engineering, Changsha University of Science and Technology, Changsha 410000, Hunan , China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (13)
    Equations (16)
    References (22)
    Cited By (1)
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    Figures & Tables(13)
    Block diagram of SLAM algorithm

    Fig. 1. Block diagram of SLAM algorithm

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    Schematic diagram of ground plane extraction

    Fig. 2. Schematic diagram of ground plane extraction

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    Schematic diagram of key frame selection method

    Fig. 3. Schematic diagram of key frame selection method

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    Schematic of factor graph optimization

    Fig. 4. Schematic of factor graph optimization

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    Experimental platforms

    Fig. 5. Experimental platforms

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    Comparison of global trajectories of different algorithms under M2DGR dataset. (a) Street02 sequence; (b) Street04 sequence; (c) Street06 sequence; (d) Street07 sequence

    Fig. 6. Comparison of global trajectories of different algorithms under M2DGR dataset. (a) Street02 sequence; (b) Street04 sequence; (c) Street06 sequence; (d) Street07 sequence

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    Comparison of local details of trajectories with different algorithms under M2DGR dataset. (a) Street02 sequence; (b) Street04 sequence; (c) Street06 sequence; (d) Street07 sequence

    Fig. 7. Comparison of local details of trajectories with different algorithms under M2DGR dataset. (a) Street02 sequence; (b) Street04 sequence; (c) Street06 sequence; (d) Street07 sequence

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    Comparison of the effect of different algorithms in building maps

    Fig. 8. Comparison of the effect of different algorithms in building maps

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    Comparison of global trajectory and local trajectory details of measured data. (a) Global trajectory; (b) local trajectory

    Fig. 9. Comparison of global trajectory and local trajectory details of measured data. (a) Global trajectory; (b) local trajectory

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    Adaptive keyframe effect

    Fig. 10. Adaptive keyframe effect

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    Elevation errors of different algorithms with measured data

    Fig. 11. Elevation errors of different algorithms with measured data

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    • Table 1. Comparison of root mean square errors of absolute position for different algorithms under the M2DGR dataset

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      Table 1. Comparison of root mean square errors of absolute position for different algorithms under the M2DGR dataset

      SLAM

      algorithm

      		LoopStreet02Street04Street06Street07

      Translation

      error /m

      Rotation

      error /（°）

      Translation

      error /m

      Rotation

      error /（°）

      Translation

      error /m

      Rotation

      error /（°）

      Translation

      error /m

      Rotation

      error /（°）

      LOAM—2.7631.2373.2132.3730.5572.28222.92136.738
      LeGO-LOAM√2.9942.2830.8562.4230.4343.1006.78418.159
      LIO-SAM√3.6101.4830.8982.0550.3752.48412.11522.582
      FAST-LIO2—2.9331.3850.5242.1540.5582.6113.97424.558
      Proposed algorithm√2.0171.1820.3411.7910.3791.9812.88817.599

    • Table 2. Comparison of root mean square errors of absolute position of different algorithms with measured data

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      Table 2. Comparison of root mean square errors of absolute position of different algorithms with measured data

      SLAM algorithmLoopRotation error /（°）Translation error /mElevation error /m
      LOAM—7.7128.0317.182
      LeGO-LOAM√5.3313.4032.612
      LIO-SAM√4.7870.5230.407
      FAST-LIO2—3.4260.8750.629
      Proposed algorithm√2.3130.3140.242
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    Zhifei Wei, Shaosheng Fan, Mingxuan Xiong. LiDAR Inertial SLAM Algorithm Based on IESKF with Factor Graph Optimization[J]. Laser & Optoelectronics Progress, 2024, 61(14): 1415007

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    Paper Information

    Category: Machine Vision

    Received: Jan. 23, 2024

    Accepted: Mar. 4, 2024

    Published Online: Jul. 8, 2024

    The Author Email: Shaosheng Fan (fss508@163.com)

    DOI:10.3788/LOP240591

    CSTR:32186.14.LOP240591

    Topics

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