文献类型：期刊文献

英文题名：Outdoor LiDAR-inertial SLAM using ground constraints

作者：Hu, Yating[1];Zhou, Qigao[1];Miao, Zhejun[1];Yuan, Hang[1];Liu, Shuang[1]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai, Peoples R China

年份：2024

卷号：42

期号：4

起止页码：1246

外文期刊名：ROBOTICA

收录：;EI(收录号：20241015667543);WOS:【SCI-EXPANDED(收录号:WOS:001172858300001)】；

基金：This work is supported by Innovation Program of Shanghai Municipal Education Commission (2019-01-07-00-02-E00068).

语种：英文

外文关键词：outdoor positioning; LiDAR-inertial SLAM; ground constraints; keyframe selection

摘要：The current LiDAR-inertial odometry is prone to cumulative Z-axis error when it runs for a long time. This error can easily lead to the failure to detect the loop-closing in the correct scenario. In this paper, a ground-constrained LiDAR-inertial SLAM is proposed to solve this problem. Reasonable constraints on the ground motion of the mobile robot are incorporated to limit the Z-axis drift error. At the same time, considering the influence of initial positioning error on navigation, a keyframe selection strategy is designed to effectively improve the flatness and accuracy of positioning and the efficiency of loop detection. If GNSS is available, the GNSS factor is added to eliminate the cumulative error of the trajectory. Finally, a large number of experiments are carried out on the self-developed robot platform to verify the effectiveness of the algorithm. The results show that this method can effectively improve location accuracy in outdoor environments, especially in environments of feature degradation and large scale.