论文标题
轻巧的激光惯性大满贯系统，循环结束
A Light-Weight LiDAR-Inertial SLAM System with Loop Closing
论文作者
论文摘要
在这项工作中，我们提出了一个具有高效率和出色循环闭合容量的轻质综合激光惯性持续式持续大满贯系统。我们发现，当前最新的激光射击力大满贯系统的循环闭合性能较差。在面对大规模情况时，激光惯性的大满贯系统通常会失败，并且效率有限。首先，在这项工作中，为了提高整个激光惯性大满贯系统的速度，我们提出了一种稀疏体素锤击的新数据结构，以提高激光惯性惯性的大满贯系统的效率。其次，为了提高基于云的本地化性能，我们集成了循环闭合算法以提高本地化性能。对实体大规模复杂情况的广泛实验表明，拟议的激光惯性大满贯系统具有很高的有效性和鲁棒性。
In this work, we propose a lightweight integrated LiDAR-Inertial SLAM system with high efficiency and a great loop closure capacity. We found that the current State-of-the-art LiDAR-Inertial SLAM system has poor performance in loop closure. The LiDAR-Inertial SLAM system often fails with the large drifting and suffers from limited efficiency when faced with large-scale circumstances. In this work, firstly, to improve the speed of the whole LiDAR-Inertial SLAM system, we have proposed a new data structure of the sparse voxel-hashing to enhance the efficiency of the LiDAR-Inertial SLAM system. Secondly, to improve the point cloud-based localization performance, we have integrated the loop closure algorithms to improve the localization performance. Extensive experiments on the real-scene large-scale complicated circumstances demonstrate the great effectiveness and robustness of the proposed LiDAR-Inertial SLAM system.
