里程计
点云
计算机科学
人工智能
计算机视觉
激光雷达
惯性测量装置
姿势
视觉里程计
移动机器人
机器人
遥感
地理
作者
Ignacio Vizzo,Tiziano Guadagnino,Benedikt Mersch,Louis Wiesmann,Jens Behley,Cyrill Stachniss
出处
期刊:IEEE robotics and automation letters
日期:2023-02-01
卷期号:8 (2): 1029-1036
被引量:39
标识
DOI:10.1109/lra.2023.3236571
摘要
Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems made progress by adding more complexity to the ego-motion estimation process, we move in the opposite direction. By removing a majority of parts and focusing on the core elements, we obtain a surprisingly effective system that is simple to realize and can operate under various environmental conditions using different LiDAR sensors. Our odometry estimation approach relies on point-to-point ICP combined with adaptive thresholding for correspondence matching, a robust kernel, a simple but widely applicable motion compensation approach, and a point cloud subsampling strategy. This yields a system with only a few parameters that in most cases do not even have to be tuned to a specific LiDAR sensor. Our system performs on par with state-of-the-art methods under various operating conditions using different platforms using the same parameters: automotive platforms, UAV-based operation, vehicles like segways, or handheld LiDARs. We do not require integrating IMU data and solely rely on 3D point clouds obtained from a wide range of 3D LiDAR sensors, thus, enabling a broad spectrum of different applications and operating conditions. Our open-source system operates faster than the sensor frame rate in all presented datasets and is designed for real-world scenarios.
科研通智能强力驱动
Strongly Powered by AbleSci AI