激光雷达惯导耦合的里程计与建图方法

Odometry and mapping method for coupling LiDAR and IMU

针对现有的激光里程计方法在室外动态道路场景中存在里程计精度较低、鲁棒性不足的问题,提出一种3D激光雷达和MEMS惯导耦合的里程计与建图方案。在不同的线程上依次执行数据预处理、顾及动态障碍物的特征提取、激光里程计和激光建图模块。利用KITTI数据和实测数据,对改进方案与目前流行的LOAM、Lego-LOAM方案进行定性和定量的激光里程计精度评定。测试结果表明,改进方案在满足系统实时性的要求下,激光里程计精度优于LOAM方案,与Lego-LOAM方案性能相当。

Aiming at the problems of low accuracy and poor robustness of existing LiDAR odometry methods in outdoor dyna-mic road scene,this paper proposed a scheme of odometry and mapping based on 3D LiDAR and MEMS IMU.The scheme was consist of four sequential module,namely data preprocessing module,feature extraction considering dynamic obstacles module,laser odometry module and laser mapping module.By using the KITTI data and real scene data,it carried out the qualitative and quantitative accuracy evaluation of the improved scheme and the current popular LOAM and Lego-LOAM schemes.The test results show that the accuracy of the improved scheme is better than LOAM scheme under the real-time requirements of the system,which is equivalent to Lego-LOAM scheme.