Research on Simultaneous localization and mapping Algorithm based on Lidar and IMU
In recent years, the research of autonomous driving and mobile robot technology is a hot research direction. The ability of simultaneous positioning and mapping is an important prerequisite for unmanned systems. Lidar is widely used as the main sensor in SLAM (Simultaneous Localization and Mapping)...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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AIMS Press
2023-03-01
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| Series: | Mathematical Biosciences and Engineering |
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| Online Access: | https://www.aimspress.com/article/doi/10.3934/mbe.2023393?viewType=HTML |
| _version_ | 1797852968939159552 |
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| author | Minghe Liu Ye Tao Zhongbo Wang Wenhua Cui Tianwei Shi |
| author_facet | Minghe Liu Ye Tao Zhongbo Wang Wenhua Cui Tianwei Shi |
| author_sort | Minghe Liu |
| collection | DOAJ |
| description | In recent years, the research of autonomous driving and mobile robot technology is a hot research direction. The ability of simultaneous positioning and mapping is an important prerequisite for unmanned systems. Lidar is widely used as the main sensor in SLAM (Simultaneous Localization and Mapping) technology because of its high precision and all-weather operation. The combination of Lidar and IMU (Inertial Measurement Unit) is an effective method to improve overall accuracy. In this paper, multi-line Lidar is used as the main data acquisition sensor, and the data provided by IMU is integrated to study robot positioning and environment modeling. On the one hand, this paper proposes an optimization method of tight coupling of lidar and IMU using factor mapping to optimize the mapping effect. Use the sliding window to limit the number of frames optimized in the factor graph. The edge method is used to ensure that the optimization accuracy is not reduced. The results show that the point plane matching mapping method based on factor graph optimization has a better mapping effect and smaller error. After using sliding window optimization, the speed is improved, which is an important basis for the realization of unmanned systems. On the other hand, on the basis of improving the method of optimizing the mapping using factor mapping, the scanning context loopback detection method is integrated to improve the mapping accuracy. Experiments show that the mapping accuracy is improved and the matching speed between two frames is reduced under loopback mapping. However, it does not affect real-time positioning and mapping, and can meet the requirements of real-time positioning and mapping in practical applications. |
| first_indexed | 2024-04-09T19:42:58Z |
| format | Article |
| id | doaj.art-300bd78fa9314eebbb7f4d61288066e7 |
| institution | Directory Open Access Journal |
| issn | 1551-0018 |
| language | English |
| last_indexed | 2024-04-09T19:42:58Z |
| publishDate | 2023-03-01 |
| publisher | AIMS Press |
| record_format | Article |
| series | Mathematical Biosciences and Engineering |
| spelling | doaj.art-300bd78fa9314eebbb7f4d61288066e72023-04-04T01:26:46ZengAIMS PressMathematical Biosciences and Engineering1551-00182023-03-012058954897410.3934/mbe.2023393Research on Simultaneous localization and mapping Algorithm based on Lidar and IMUMinghe Liu0Ye Tao1Zhongbo Wang2Wenhua Cui3Tianwei Shi4School of Computer Science and Software Engineering, University of Science and Technology Liaoning, ChinaSchool of Computer Science and Software Engineering, University of Science and Technology Liaoning, ChinaSchool of Computer Science and Software Engineering, University of Science and Technology Liaoning, ChinaSchool of Computer Science and Software Engineering, University of Science and Technology Liaoning, ChinaSchool of Computer Science and Software Engineering, University of Science and Technology Liaoning, ChinaIn recent years, the research of autonomous driving and mobile robot technology is a hot research direction. The ability of simultaneous positioning and mapping is an important prerequisite for unmanned systems. Lidar is widely used as the main sensor in SLAM (Simultaneous Localization and Mapping) technology because of its high precision and all-weather operation. The combination of Lidar and IMU (Inertial Measurement Unit) is an effective method to improve overall accuracy. In this paper, multi-line Lidar is used as the main data acquisition sensor, and the data provided by IMU is integrated to study robot positioning and environment modeling. On the one hand, this paper proposes an optimization method of tight coupling of lidar and IMU using factor mapping to optimize the mapping effect. Use the sliding window to limit the number of frames optimized in the factor graph. The edge method is used to ensure that the optimization accuracy is not reduced. The results show that the point plane matching mapping method based on factor graph optimization has a better mapping effect and smaller error. After using sliding window optimization, the speed is improved, which is an important basis for the realization of unmanned systems. On the other hand, on the basis of improving the method of optimizing the mapping using factor mapping, the scanning context loopback detection method is integrated to improve the mapping accuracy. Experiments show that the mapping accuracy is improved and the matching speed between two frames is reduced under loopback mapping. However, it does not affect real-time positioning and mapping, and can meet the requirements of real-time positioning and mapping in practical applications.https://www.aimspress.com/article/doi/10.3934/mbe.2023393?viewType=HTMLsimultaneous positioning and mappingmulti-line lidarfactor graphloopback detection |
| spellingShingle | Minghe Liu Ye Tao Zhongbo Wang Wenhua Cui Tianwei Shi Research on Simultaneous localization and mapping Algorithm based on Lidar and IMU Mathematical Biosciences and Engineering simultaneous positioning and mapping multi-line lidar factor graph loopback detection |
| title | Research on Simultaneous localization and mapping Algorithm based on Lidar and IMU |
| title_full | Research on Simultaneous localization and mapping Algorithm based on Lidar and IMU |
| title_fullStr | Research on Simultaneous localization and mapping Algorithm based on Lidar and IMU |
| title_full_unstemmed | Research on Simultaneous localization and mapping Algorithm based on Lidar and IMU |
| title_short | Research on Simultaneous localization and mapping Algorithm based on Lidar and IMU |
| title_sort | research on simultaneous localization and mapping algorithm based on lidar and imu |
| topic | simultaneous positioning and mapping multi-line lidar factor graph loopback detection |
| url | https://www.aimspress.com/article/doi/10.3934/mbe.2023393?viewType=HTML |
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