Adaptive Tightly Coupled Lidar-Visual Simultaneous Localization and Mapping Framework

Table 1. Translational error index of odometry localization accuracy
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Table 1. Translational error index of odometry localization accuracy
Seq. No. 00 01 02 03 04 05 06 07 08 09 10 Average
VINS 1.30 2.30 1.43 1.48 1.33 1.38 1.33 1.07 1.75 1.78 1.81 1.52
F-LOAM 0.98 2.20 1.29 1.52 0.81 0.74 0.54 1.22 1.37 1.00 1.81 1.16
AVLS-VLO 0.97 1.21 1.27 1.45 0.60 0.65 1.04 0.52 1.28 1.28 1.74 1.12

Table 2. Rotational error index of odometry localization accuracy
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Table 2. Rotational error index of odometry localization accuracy
Seq. No. 00 01 02 03 04 05 06 07 08 09 10 Average
VINS 0.63 0.35 0.53 0.49 0.70 0.71 0.69 0.83 0.67 0.53 0.85 0.61
F-LOAM 0.60 0.56 0.65 0.91 0.45 0.55 0.33 1.03 0.56 0.47 0.85 0.60
AVLS-VLO 0.51 0.30 0.47 0.85 0.47 0.40 0.36 0.46 0.48 0.50 0.73 0.48

Table 3. Ablation study of the dynamic weighting scheme (ATE/ARE)

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Table 3. Ablation study of the dynamic weighting scheme (ATE/ARE)

Seq. No.	VLO_1	VLO_2	VLO_3	VLO	AVLS_VLO
Average	1.24/0.50	1.13/0.49	1.19/0.51	1.20/0.50	1.12/0.48
00	0.98/0.51	0.96/0.51	0.97/0.51	1.08/0.55	0.97/0.51
01	1.23/0.29	1.32/0.37	1.50/0.36	1.02/0.23	1.21/0.30
02	1.24/0.45	1.28/0.47	1.27/0.47	1.38/0.50	1.27/0.47
03	1.42/0.85	1.42/0.85	1.70/0.92	1.28/0.59	1.45/0.85
04	1.11/0.90	0.66/0.51	0.61/0.48	0.68/0.56	0.60/0.47
05	0.63/0.39	0.63/0.39	0.66/0.40	0.77/0.44	0.65/0.40
06	1.42/0.68	0.99/0.39	0.70/0.31	0.69/0.39	1.04/0.36
07	1.42/0.68	0.51/0.43	0.54/0.47	0.64/0.59	0.52/0.46
08	1.29/0.48	1.28/0.48	1.28/0.48	1.42/0.55	1.28/0.48
09	3.35/1.09	1.44/0.59	1.25/0.50	1.50/0.54	1.28/0.50
10	1.50/0.60	1.67/0.69	4.12/0.73	1.57/0.60	1.74/0.73

Table 4. Comparison of environmental differences in KITTI dataset
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Table 4. Comparison of environmental differences in KITTI dataset
Seq. No. 00 01 02 03 04 05 06 07 08 09 10
Env U H U+C C C U U U U+C U+C U+C
$ω_{A v g}$ 1.3 2.5 2.0 0.8 2.1 1.1 1.9 0.9 1.1 1.4 1.5
V_Avg /（m/s） 7.9 21.5 10.5 6.8 14.0 7.7 10.8 6.1 7.6 10.3 7.4

Table 5. Performance evaluation of a complete SLAM system with loopback (ATE/ARE)

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Table 5. Performance evaluation of a complete SLAM system with loopback (ATE/ARE)

Seq. No.	Length /m	LeGO-LOAM	VINS*	DEMO	ISC-LOAM	LITAMIN	AVLS
Average			1.56/0.66	1.16/	1.35/0.52	1.59/0.43	1.01/0.42
00	3724	1.38/0.57	1.18/0.63	1.05/	1.02/0.42	0.95/0.41	0.88/0.38
01	2453	28.03/2.69	2.16/0.34	1.87/	2.92/0.63	11.3/0.45	1.17/0.28
02	5067	2.14/0.84	1.72/0.72	0.93/	1.67/0.54	1.25/0.45	1.08/0.44
03	560	1.21/0.79	1.46/0.49	0.99/	1.15/0.72	1.17/0.56	1.17/0.52
04	393	1.27/0.84	1.33/0.69	1.23/	1.50/0.56	18.7/0.47	0.62/0.47
05	2205	0.91/0.48	1.40/0.67	1.04/	0.81/0.37	0.70/0.35	0.49/0.32
06	1232	0.80/0.43	0.86/0.56	0.96/	0.76/0.41	0.63/0.32	0.61/0.31
07	694	0.74/0.54	0.67/0.54	1.16/	0.56/0.43	0.45/0.33	0.53/0.44
08	3222	1.40/0.54	1.73/0.67	1.24/	1.20/0.50	1.03/0.37	1.32/0.52
09	1705	1.25/0.60	1.85/0.56	1.17/	1.40/0.59	1.06/0.43	1.29/0.45
10	919	1.70/0.69	1.81/0.85	1.14/	1.87/0.62	3.78/0.90	1.63/0.65

Table 6. Evaluation of localization accuracy (RMSE)

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Table 6. Evaluation of localization accuracy (RMSE)

Seq. No.	77	80	84	89	111	115	119	144	265	279
F-LOAM	0.68	1.01	0.81	2.58	2.45	0.82	1.54	0.91	1.42	1.32
AVLS	1.25	0.58	0.62	0.54	0.98	1.02	1.16	0.86	0.78	0.99
Seq. No.	281	309	311	314	335	343	481	486	489	494
F-LOAM	1.24	4.53	1.03	0.63	0.74	0.84	0.73	1.06	1.37	0.88
AVLS	0.84	4.88	0.51	1.01	1.13	0.81	0.77	0.68	1.00	0.39
Seq. No.	547	549	604	610	615	621	827	830	834	841
F-LOAM	1.26	1.11	2.45	1.06	1.10	0.95	4.54	2.16	1.77	1.52
AVLS	1.50	0.42	1.59	0.84	0.34	0.57	4.52	1.61	1.52	1.61
Seq. No.	933	939	941	1027	1028	1030	1032	1037	1039	1043
F-LOAM	3.60	1.38	0.93	1.59	1.11	1.67	0.81	1.76	1.52	1.72
AVLS	3.46	1.29	0.68	1.10	1.41	1.08	0.32	1.97	0.98	1.80

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Weichao Zhou, Jun Huang. Adaptive Tightly Coupled Lidar-Visual Simultaneous Localization and Mapping Framework[J]. Laser & Optoelectronics Progress, 2023, 60(20): 2028009

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