LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time
IEEE A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time operation under challenging perceptual conditions. LOCUS...
| Main Authors: | , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2021
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| Online Access: | https://hdl.handle.net/1721.1/134380 |
| _version_ | 1811079718071435264 |
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| author | Palieri, Matteo Morrell, Benjamin Thakur, Abhishek Ebadi, Kamak Nash, Jeremy Chatterjee, Arghya Kanellakis, Christoforos Carlone, Luca Guaragnella, Cataldo Agha-mohammadi, Ali-akbar |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Palieri, Matteo Morrell, Benjamin Thakur, Abhishek Ebadi, Kamak Nash, Jeremy Chatterjee, Arghya Kanellakis, Christoforos Carlone, Luca Guaragnella, Cataldo Agha-mohammadi, Ali-akbar |
| author_sort | Palieri, Matteo |
| collection | MIT |
| description | IEEE A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time operation under challenging perceptual conditions. LOCUS (Lidar Odometry for Consistent operation in Uncertain Settings), provides an accurate multi-stage scan matching unit equipped with an health-aware sensor integration module for seamless fusion of additional sensing modalities. We evaluate the performance of the proposed system against state-of-the-art techniques in perceptually challenging environments, and demonstrate top-class localization accuracy along with substantial improvements in robustness to sensor failures. We then demonstrate real-time performance of LOCUS on various types of robotic mobility platforms involved in the autonomous exploration of the Satsop power plant in Elma, WA where the proposed system was a key element of the CoSTAR team's solution that won first place in the Urban Circuit of the DARPA Subterranean Challenge. |
| first_indexed | 2024-09-23T11:19:27Z |
| format | Article |
| id | mit-1721.1/134380 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T11:19:27Z |
| publishDate | 2021 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1343802023-02-28T21:27:04Z LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time Palieri, Matteo Morrell, Benjamin Thakur, Abhishek Ebadi, Kamak Nash, Jeremy Chatterjee, Arghya Kanellakis, Christoforos Carlone, Luca Guaragnella, Cataldo Agha-mohammadi, Ali-akbar Massachusetts Institute of Technology. Department of Aeronautics and Astronautics IEEE A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time operation under challenging perceptual conditions. LOCUS (Lidar Odometry for Consistent operation in Uncertain Settings), provides an accurate multi-stage scan matching unit equipped with an health-aware sensor integration module for seamless fusion of additional sensing modalities. We evaluate the performance of the proposed system against state-of-the-art techniques in perceptually challenging environments, and demonstrate top-class localization accuracy along with substantial improvements in robustness to sensor failures. We then demonstrate real-time performance of LOCUS on various types of robotic mobility platforms involved in the autonomous exploration of the Satsop power plant in Elma, WA where the proposed system was a key element of the CoSTAR team's solution that won first place in the Urban Circuit of the DARPA Subterranean Challenge. 2021-10-27T20:04:44Z 2021-10-27T20:04:44Z 2021 2021-04-16T17:39:47Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/134380 en 10.1109/LRA.2020.3044864 IEEE Robotics and Automation Letters Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) arXiv |
| spellingShingle | Palieri, Matteo Morrell, Benjamin Thakur, Abhishek Ebadi, Kamak Nash, Jeremy Chatterjee, Arghya Kanellakis, Christoforos Carlone, Luca Guaragnella, Cataldo Agha-mohammadi, Ali-akbar LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time |
| title | LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time |
| title_full | LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time |
| title_fullStr | LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time |
| title_full_unstemmed | LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time |
| title_short | LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time |
| title_sort | locus a multi sensor lidar centric solution for high precision odometry and 3d mapping in real time |
| url | https://hdl.handle.net/1721.1/134380 |
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