ShanghaiTech University Knowledge Management System
Robust SRIF-based LiDAR-IMU Localization for Autonomous Vehicles | |
Li, Kun1; Ouyang, Zhanpeng2; Hu, Lan2; Hao, Dayang1; Kneip, Laurent2,3 | |
2021 | |
会议录名称 | IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION |
ISSN | 1050-4729 |
发表状态 | 已发表 |
DOI | - |
摘要 | We present a tightly-coupled multi-sensor fusion architecture for autonomous vehicle applications, which achieves centimetre-level accuracy and high robustness in various scenarios. In order to realize robust and accurate point-cloud feature matching we propose a novel method for extracting structural, highly discriminative features from LiDAR point clouds. For high frequency motion prediction and noise propagation, we use incremental on-manifold IMU preintegration. We also adopt a multi-frame sliding window square root inverse filter, so that the system maintains numerically stable results under the premise of limited power consumption. To verify our methodology, we test the fusion algorithm in multiple applications and platforms equipped with a LiDAR-IMU system. Our results demonstrate that our fusion framework attains state-of-the-art localization accuracy, high robustness and a good generalization ability |
会议录编者/会议主办者 | ICRA |
会议名称 | IEEE International Conference on Robotics and Automation (ICRA) |
出版地 | 345 E 47TH ST, NEW YORK, NY 10017 USA |
会议地点 | null,Xian,PEOPLES R CHINA |
会议日期 | MAY 30-JUN 05, 2021 |
URL | 查看原文 |
收录类别 | CPCI-S |
语种 | 英语 |
资助项目 | Natural Science Foundation of Shanghai[19ZR1434000] |
WOS研究方向 | Automation & Control Systems ; Robotics |
WOS类目 | Automation & Control Systems ; Robotics |
WOS记录号 | WOS:000765738804021 |
出版者 | IEEE |
EISSN | 2577-087X |
文献类型 | 会议论文 |
条目标识符 | https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/126753 |
专题 | 信息科学与技术学院_硕士生 信息科学与技术学院_PI研究组_Laurent Kneip组 信息科学与技术学院_博士生 |
通讯作者 | Li, Kun |
作者单位 | 1.Alibaba Grp, Damo Acad, Hangzhou, Peoples R China 2.ShanghaiTech, Mobile Percept Lab, SIST, Shanghai, Peoples R China 3.Shanghai Engn Res Ctr Intelligent Vis & Imaging, Shanghai, Peoples R China |
推荐引用方式 GB/T 7714 | Li, Kun,Ouyang, Zhanpeng,Hu, Lan,et al. Robust SRIF-based LiDAR-IMU Localization for Autonomous Vehicles[C]//ICRA. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 |
修改评论
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。