In the simultaneous localization and mapping (SLAM) technique, the presence of cumulative errors in laser odometry positions leads to localization bias or even map-building failure. To address this problem, a laser SLAM method called PA-SLAM based on ground plane constraints and two-step accurate identification of loopback frames is proposed. In the point cloud preprocessing process, the Patchwork++ method is introduced to obtain the ground plane constraints to reduce the localization error caused by invalid feature point matching. Then, accurate six-degree-of-freedom bit positions of the carrier are obtained from Lidar orientation and map construction (LOAM), candidate loopback frames are obtained by searching within a certain radius according to the k-dimensional (K-D) tree data structure, and a Lidar Iris descriptor is introduced to calculate the similarity scores among the candidate frames. Finally, the fast generalized iterative closest point (FasterGICP) algorithm is introduced to obtain the loopback position constraints to correct the global pose, so as to obtain more accurate localization information. The proposed method is compared with the LeGO-LOAM and SC-LeGO-LOAM algorithms on the KITTI dataset. The experimental results show that the absolute position root-mean-square error (RMSE) of this method is reduced by 45.7$\%$ and 48.3$\%$ on average relative to the above two algorithms, which plays a significant role in eliminating the cumulative error of the position, and realizes a more robust and accurate localization and 3-D map construction.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    PA-SLAM: Fast and Robust Ground Segmentation and Optimized Loop Detection Laser SLAM System


    Beteiligte:
    Zhao, Xu (Autor:in) / Ren, Xiao (Autor:in) / Li, Lianpeng (Autor:in) / Wu, Junan (Autor:in) / Zhao, Xin (Autor:in)


    Erscheinungsdatum :

    01.10.2024


    Format / Umfang :

    2883840 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Ground-optimized SLAM with Hierarchical Loop Closure Detection in Large-scale Environment

    Yin, Huilin / Sun, Mina / Zhang, Linchuan et al. | IEEE | 2023


    AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM

    Weisong Wen / Li-Ta Hsu | DOAJ | 2022

    Freier Zugriff

    RWT-SLAM: Robust Visual SLAM for Weakly Textured Environments

    Peng, Qihao / Zhao, Xijun / Dang, Ruina et al. | IEEE | 2024


    Fast, Robust, Accurate, Multi-Body Motion Aware SLAM

    Yang, Linghao / Zhang, Yunzhou / Tian, Rui et al. | IEEE | 2024


    Robust multi-loop airborne SLAM in unknown wind environments

    Kim, Jonghyuk / Sukkarieh, S. | Tema Archiv | 2006