论文标题
朝着高性能的固态持续惯性探针和映射
Towards High-Performance Solid-State-LiDAR-Inertial Odometry and Mapping
论文作者
论文摘要
我们为固态和机械激光剂提供了一种新型紧密耦合的激光惯性辐射和映射方案。作为前端，基于功能的轻质激光雷达探光仪为自适应钥匙帧选择提供了快速运动估计。作为后端，通过边缘化直接融合IMU和LIDAR测量来执行基于层次框架的滑动窗口优化。对于Livox Horizon，新释放的固态激光雷达（Livox Horizon）提出了一种新型的特征提取方法来处理其在预处理过程中的不规则扫描模式。 LILI-OM（Livox Livox LiDAR惯性进程和映射）具有实时功能，并且在两种liDar类型的机械激光雷达公共数据集以及使用Livox Horizon的实验中，两种激光雷达类型都具有优于最先进的系统的精度。源代码和记录的实验数据集可在https://github.com/kit-isas/lili-om上获得。
We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs. As frontend, a feature-based lightweight LiDAR odometry provides fast motion estimates for adaptive keyframe selection. As backend, a hierarchical keyframe-based sliding window optimization is performed through marginalization for directly fusing IMU and LiDAR measurements. For the Livox Horizon, a newly released solid-state LiDAR, a novel feature extraction method is proposed to handle its irregular scan pattern during preprocessing. LiLi-OM (Livox LiDAR-inertial odometry and mapping) is real-time capable and achieves superior accuracy over state-of-the-art systems for both LiDAR types on public data sets of mechanical LiDARs and in experiments using the Livox Horizon. Source code and recorded experimental data sets are available at https://github.com/KIT-ISAS/lili-om.
