期刊
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
卷 -, 期 -, 页码 4379-4385出版社
IEEE
DOI: 10.1109/icra40945.2020.9197450
关键词
-
资金
- Hungarian Scientific Research Fund
- NKFIH [OTKA KH-126513, 2018-1.2.1-NKP-00008]
In this paper we deal with the problem of odometry and localization for Lidar-equipped vehicles driving in urban environments, where a premade target map exists to localize against. In our problem formulation, to correct the accumulated drift of the Lidar-only odometry we apply a place recognition method to detect geometrically similar locations between the online 3D point cloud and the a priori offline map. In the proposed system, we integrate a state-of-the-art Lidar-only odometry algorithm with a recently proposed 3D point segment matching method by complementing their advantages. Also, we propose additional enhancements in order to reduce the number of false matches between the online point cloud and the target map, and to refine the position estimation error whenever a good match is detected. We demonstrate the utility of the proposed LOL system on several Kitti datasets of different lengths and environments, where the relocalization accuracy and the precision of the vehicle's trajectory were significantly improved in every case, while still being able to maintain real-time performance.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据