Robust Localization of Industrial Park UGV and Prior Map Maintenance
The precise localization of unmanned ground vehicles (UGVs) in industrial parks without prior GPS measurements presents a significant challenge. Simultaneous localization and mapping (SLAM) techniques can address this challenge by capturing environmental features, using sensors for real-time UGV loc...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-08-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/15/6987 |
| _version_ | 1797585984577077248 |
|---|---|
| author | Fanrui Luo Zhenyu Liu Fengshan Zou Mingmin Liu Yang Cheng Xiaoyu Li |
| author_facet | Fanrui Luo Zhenyu Liu Fengshan Zou Mingmin Liu Yang Cheng Xiaoyu Li |
| author_sort | Fanrui Luo |
| collection | DOAJ |
| description | The precise localization of unmanned ground vehicles (UGVs) in industrial parks without prior GPS measurements presents a significant challenge. Simultaneous localization and mapping (SLAM) techniques can address this challenge by capturing environmental features, using sensors for real-time UGV localization. In order to increase the real-time localization accuracy and efficiency of UGVs, and to improve the robustness of UGVs’ odometry within industrial parks—thereby addressing issues related to UGVs’ motion control discontinuity and odometry drift—this paper proposes a tightly coupled LiDAR-IMU odometry method based on FAST-LIO2, integrating ground constraints and a novel feature extraction method. Additionally, a novel maintenance method of prior maps is proposed. The front-end module acquires the prior pose of the UGV by combining the detection and correction of relocation with point cloud registration. Then, the proposed maintenance method of prior maps is used to hierarchically and partitionally segregate and perform the real-time maintenance of the prior maps. At the back-end, real-time localization is achieved by the proposed tightly coupled LiDAR-IMU odometry that incorporates ground constraints. Furthermore, a feature extraction method based on the bidirectional-projection plane slope difference filter is proposed, enabling efficient and accurate point cloud feature extraction for edge, planar and ground points. Finally, the proposed method is evaluated, using self-collected datasets from industrial parks and the KITTI dataset. Our experimental results demonstrate that, compared to FAST-LIO2 and FAST-LIO2 with the curvature feature extraction method, the proposed method improved the odometry accuracy by 30.19% and 48.24% on the KITTI dataset. The efficiency of odometry was improved by 56.72% and 40.06%. When leveraging prior maps, the UGV achieved centimeter-level localization accuracy. The localization accuracy of the proposed method was improved by 46.367% compared to FAST-LIO2 on self-collected datasets, and the located efficiency was improved by 32.33%. The <i>z</i>-axis-located accuracy of the proposed method reached millimeter-level accuracy. The proposed prior map maintenance method reduced RAM usage by 64% compared to traditional methods. |
| first_indexed | 2024-03-11T00:16:48Z |
| format | Article |
| id | doaj.art-b7b54f83cdf643d2b06911b148abd5f1 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T00:16:48Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-b7b54f83cdf643d2b06911b148abd5f12023-11-18T23:37:10ZengMDPI AGSensors1424-82202023-08-012315698710.3390/s23156987Robust Localization of Industrial Park UGV and Prior Map MaintenanceFanrui Luo0Zhenyu Liu1Fengshan Zou2Mingmin Liu3Yang Cheng4Xiaoyu Li5School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110870, ChinaSchool of Information Science and Engineering, Shenyang University of Technology, Shenyang 110870, ChinaSIASUN Robot & Automation Co., Ltd., Shenyang 110169, ChinaSIASUN Robot & Automation Co., Ltd., Shenyang 110169, ChinaSchool of Information Science and Engineering, Shenyang University of Technology, Shenyang 110870, ChinaSchool of Information Science and Engineering, Shenyang University of Technology, Shenyang 110870, ChinaThe precise localization of unmanned ground vehicles (UGVs) in industrial parks without prior GPS measurements presents a significant challenge. Simultaneous localization and mapping (SLAM) techniques can address this challenge by capturing environmental features, using sensors for real-time UGV localization. In order to increase the real-time localization accuracy and efficiency of UGVs, and to improve the robustness of UGVs’ odometry within industrial parks—thereby addressing issues related to UGVs’ motion control discontinuity and odometry drift—this paper proposes a tightly coupled LiDAR-IMU odometry method based on FAST-LIO2, integrating ground constraints and a novel feature extraction method. Additionally, a novel maintenance method of prior maps is proposed. The front-end module acquires the prior pose of the UGV by combining the detection and correction of relocation with point cloud registration. Then, the proposed maintenance method of prior maps is used to hierarchically and partitionally segregate and perform the real-time maintenance of the prior maps. At the back-end, real-time localization is achieved by the proposed tightly coupled LiDAR-IMU odometry that incorporates ground constraints. Furthermore, a feature extraction method based on the bidirectional-projection plane slope difference filter is proposed, enabling efficient and accurate point cloud feature extraction for edge, planar and ground points. Finally, the proposed method is evaluated, using self-collected datasets from industrial parks and the KITTI dataset. Our experimental results demonstrate that, compared to FAST-LIO2 and FAST-LIO2 with the curvature feature extraction method, the proposed method improved the odometry accuracy by 30.19% and 48.24% on the KITTI dataset. The efficiency of odometry was improved by 56.72% and 40.06%. When leveraging prior maps, the UGV achieved centimeter-level localization accuracy. The localization accuracy of the proposed method was improved by 46.367% compared to FAST-LIO2 on self-collected datasets, and the located efficiency was improved by 32.33%. The <i>z</i>-axis-located accuracy of the proposed method reached millimeter-level accuracy. The proposed prior map maintenance method reduced RAM usage by 64% compared to traditional methods.https://www.mdpi.com/1424-8220/23/15/6987LiDAR-IMU SLAMfeature extractionprior map maintenancerelocationunmanned ground vehicle |
| spellingShingle | Fanrui Luo Zhenyu Liu Fengshan Zou Mingmin Liu Yang Cheng Xiaoyu Li Robust Localization of Industrial Park UGV and Prior Map Maintenance Sensors LiDAR-IMU SLAM feature extraction prior map maintenance relocation unmanned ground vehicle |
| title | Robust Localization of Industrial Park UGV and Prior Map Maintenance |
| title_full | Robust Localization of Industrial Park UGV and Prior Map Maintenance |
| title_fullStr | Robust Localization of Industrial Park UGV and Prior Map Maintenance |
| title_full_unstemmed | Robust Localization of Industrial Park UGV and Prior Map Maintenance |
| title_short | Robust Localization of Industrial Park UGV and Prior Map Maintenance |
| title_sort | robust localization of industrial park ugv and prior map maintenance |
| topic | LiDAR-IMU SLAM feature extraction prior map maintenance relocation unmanned ground vehicle |
| url | https://www.mdpi.com/1424-8220/23/15/6987 |
| work_keys_str_mv | AT fanruiluo robustlocalizationofindustrialparkugvandpriormapmaintenance AT zhenyuliu robustlocalizationofindustrialparkugvandpriormapmaintenance AT fengshanzou robustlocalizationofindustrialparkugvandpriormapmaintenance AT mingminliu robustlocalizationofindustrialparkugvandpriormapmaintenance AT yangcheng robustlocalizationofindustrialparkugvandpriormapmaintenance AT xiaoyuli robustlocalizationofindustrialparkugvandpriormapmaintenance |