Improved Lidar Odometry Based on Continuous-Time Spline Constraints

Qipeng Rao; Ming Ling; Xin Wang; Shulong Zhai; Chang Liu

doi:10.3788/LOP230556

Laser & Optoelectronics Progress, Volume. 60, Issue 22, 2212007(2023)

Improved Lidar Odometry Based on Continuous-Time Spline Constraints

Qipeng Rao, Ming Ling^*, Xin Wang, Shulong Zhai, and Chang Liu

School of Electronics and Electrical Engineering, Shanghai University of Engineering and Technology, Shanghai 201620, China

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Figures & Tables(10)

Fig. 1. Voxel grid subsampling. (a) Collected point cloud data; (b) point cloud data after subsampling

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Fig. 2. The process of keyframe selecting

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Fig. 3. The Lidar odometry calculation process based on ICP

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Fig. 5. Trajectories estimated with improved odometer, IMLS-ICP trajectories, and ground truth. (a)‒(g) 00-06

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Fig. 6. Map 2022-12-08 comparison of original and improved Lidar odometry. (a) (b) Trajectory; (c) (d) RPE; (e) (f) APE

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Fig. 7. Map 2022-12-09 comparison of original and improved Lidar odometry. (a) (b) Trajectory; (c) (d) RPE; (e) (f) APE

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Table 1. Comparison of the APE and the processing speed on KITTI dataset
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Table 1. Comparison of the APE and the processing speed on KITTI dataset
KITTI dataset 00 01 02 03 04 05 06 Average $Δ T$ /ms
IMLS-ICP 0.53 0.79 0.55 0.75 0.43 0.33 0.31 0.53 1070
Proposed method 0.47 0.79 0.51 0.68 0.38 0.28 0.27 0.48 80

Table 2. Map 2022-12-08 motion trajectory evaluation of original and improved Lidar odometry
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Table 2. Map 2022-12-08 motion trajectory evaluation of original and improved Lidar odometry
2022-12-08 RPE APE
Max /% Min /% Max /m Mean /m
IMLS-ICP 1.91 0.33 61.24 20.68
Proposed method 1.33 0.29 47.25 18.11

Table 3. Map 2022-12-09 motion trajectory evaluation of original and improved Lidar odometry
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Table 3. Map 2022-12-09 motion trajectory evaluation of original and improved Lidar odometry
2022-12-09 RPE APE
Max /% Min /% Max /m Mean /m
IMLS-ICP 1.73 0.53 17.84 5.68
Proposed method 1.59 0.23 15.45 4.01

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Qipeng Rao, Ming Ling, Xin Wang, Shulong Zhai, Chang Liu. Improved Lidar Odometry Based on Continuous-Time Spline Constraints[J]. Laser & Optoelectronics Progress, 2023, 60(22): 2212007

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Paper Information

Category: Instrumentation, Measurement and Metrology

Received: Jan. 31, 2023

Accepted: Apr. 3, 2023

Published Online: Nov. 16, 2023

The Author Email: Ling Ming (Lingming200093@hotmail.com)

DOI:10.3788/LOP230556

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Comparison of the APE and the processing speed on KITTI dataset

Table 1. Comparison of the APE and the processing speed on KITTI dataset

Table 2. Map 2022-12-08 motion trajectory evaluation of original and improved Lidar odometry

Table 2. Map 2022-12-08 motion trajectory evaluation of original and improved Lidar odometry

Table 3. Map 2022-12-09 motion trajectory evaluation of original and improved Lidar odometry

Table 3. Map 2022-12-09 motion trajectory evaluation of original and improved Lidar odometry