Title | ||
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Robust Odometry and Mapping for Multi-LiDAR Systems With Online Extrinsic Calibration |
Abstract | ||
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Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This article proposes a system to achieve robust and simultaneous extrinsic calibration, odometry, and mapping for multiple LiDARs. Our approach starts with measurement preprocessing to extract edge and planar features from raw measurements. After a motion and extrinsic initialization procedure, a sliding window-based multi-LiDAR odometry runs onboard to estimate poses with an online calibration refinement and convergence identification. We further develop a mapping algorithm to construct a global map and optimize poses with sufficient features together with a method to capture and reduce data uncertainty. We validate our approach’s performance with extensive experiments on 10 sequences (4.60-km total length) for the calibration and SLAM and compare it against the state of the art. We demonstrate that the proposed work is a complete, robust, and extensible system for various multi-LiDAR setups. The source code, datasets, and demonstrations are available at:
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Year | DOI | Venue |
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2022 | 10.1109/TRO.2021.3078287 | IEEE Transactions on Robotics |
Keywords | DocType | Volume |
Autonomous driving,calibration and identification,sensor fusion,simultaneous localization and mapping (SLAM) | Journal | 38 |
Issue | ISSN | Citations |
1 | 1552-3098 | 1 |
PageRank | References | Authors |
0.35 | 47 | 4 |
Name | Order | Citations | PageRank |
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Jianhao Jiao | 1 | 19 | 6.68 |
Haoyang Ye | 2 | 17 | 6.84 |
Yilong Zhu | 3 | 6 | 6.16 |
Ming Liu | 4 | 775 | 94.83 |