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A ZUPT Aided Initialization Procedure for Tightly-coupled Lidar Inertial Odometry based SLAM System

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Abstract

Simultaneous localization and mapping (SLAM) is an important research topic in unmanned platforms. The SLAM method, coupled with the Inertial Measurement Unit (IMU), has recently received much attention due to its excellent performance. However, the tightly coupled LiDAR and IMU odometry (LIO) will be interfered with by the unknown initial state during system startup, which will lead to system startup failure in severe cases, especially in the case of low-cost sensors. Therefore, this paper presents a Zero Velocity Update (ZUPT) aided initialization procedure to estimate unknown initial states assuming that the vehicle always starts from stationary. The proposed initialization procedure includes two phases: static phase and dynamic phase, and this paper also proposes a Zero Velocity Detector to distinguish the two phases precisely. The proposed system is evaluated on the datasets gathered from the campus zone with low-cost sensors to evaluate the whole system. The results show that our approach can effectively improve robustness and partly improve precision when the system is bootstrapped.

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Funding

The authors acknowledge the Chongqing Research Institute of Wuhan University of Technology project YF2021-16 for funding this work.

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Authors and Affiliations

  1. School of Information Engineering, Wuhan University of Technology, Wuhan, Hubei, People’s Republic of China

    Linqiu Gui

  2. School of Automation, Wuhan University of Technology, Wuhan, Hubei, People’s Republic of China

    Chunnian Zeng & Jie Luo

  3. Department of Electrical Engineering, University of South Carolina, Columbia, SC, USA

    Samuel Dauchert & Xiaofeng Wang

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  1. Linqiu Gui
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  2. Chunnian Zeng
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  3. Samuel Dauchert
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  4. Jie Luo
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  5. Xiaofeng Wang
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Contributions

All authors contributed to the study’s conception and design. Material preparation, data collection, and analysis were performed by Linqiu Gui, Chunnian Zeng, and Jie Luo. The first draft of the manuscript was written by Linqiu Gui. The paper was reviewed by Samuel Dauchert and Xiaofeng Wang. All authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Jie Luo.

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Gui, L., Zeng, C., Dauchert, S. et al. A ZUPT Aided Initialization Procedure for Tightly-coupled Lidar Inertial Odometry based SLAM System. J Intell Robot Syst 108, 40 (2023). https://doi.org/10.1007/s10846-023-01886-3

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