Abstract
A fundamental task for mobile robots is simultaneous localization and mapping (SLAM). Moreover, long-term robustness is an important property for SLAM. When vehicles or robots steer fast or steer in certain scenarios, such as low-texture environments, long corridors, tunnels, or other duplicated structural environments, most SLAM systems might fail. In this paper, we propose a novel robust visual inertial light detection and ranging (LiDaR) navigation (VILN) SLAM system, including stereo visual-inertial LiDaR odometry and visual-LiDaR loop closure. The proposed VILN SLAM system can perform well with low drift after long-term experiments, even when the LiDaR or visual measurements are degraded occasionally in complex scenes. Extensive experimental results show that the robustness has been greatly improved in various scenarios compared to state-of-the-art SLAM systems.
摘要
自主移动机器人的基本任务是同时定位与建图 (SLAM). 此外, 长期鲁棒性是SLAM的一个重要属性. 当车辆或机器人快速旋转或在某些场景中 (例如低纹理环境、 长走廊、 隧道或其他重复的结构环境) 转向时, 大多数SLAM系统可能会失效. 本文提出一种新颖的鲁棒视觉惯性激光雷达 (LiDaR) 导航 (VILN) SLAM系统, 包括立体视觉-惯性LiDaR里程计和视觉-LiDaR闭环. 所提出的VILN SLAM系统即使在偶尔会降低LiDaR或视觉测量性能的复杂场景中也可以长期稳定地运行. 大量实验结果表明, 与最先进的SLAM系统相比, VILN SLAM系统在各种场景下的鲁棒性都有了很大提高.
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Wei WEI, Xiaorui ZHU, and Yi WANG designed the research. Wei WEI processed the data. Wei WEI and Xiaorui ZHU drafted the paper. Yi WANG helped organize the paper. Wei WEI and Xiaorui ZHU revised and finalized the paper.
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Wei WEI, Xiaorui ZHU, and Yi WANG declare that they have no conflict of interest.
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Project supported by the National Key R&D Program of China (No. 2018YFB1305500) and the National Natural Science Foundation of China (No. U1813219)
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Wei, W., Zhu, X. & Wang, Y. Novel robust simultaneous localization and mapping for long-term autonomous robots. Front Inform Technol Electron Eng 23, 234–245 (2022). https://doi.org/10.1631/FITEE.2000358
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DOI: https://doi.org/10.1631/FITEE.2000358
Key words
- Simultaneous localization and mapping (SLAM)
- Long-term
- Robustness
- Light detection and ranging (LiDaR)
- Visual inertial LiDaR navigation (VILN)