Localization scheme based on key frame selection and a reliable plane using lidar and IMU

Zhang Yi

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Localization scheme based on key frame selection and a reliable plane using lidar and IMU

机译：使用LIDAR和IMU的关键帧选择和可靠平面的本地化方案

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Lidar (also known as light detection and ranging) and inertial measurement unit (IMU) have become the core components in a simultaneous localization and mapping (SLAM) system. Aiming at the problems of low accuracy and poor robustness, we propose what we believe is a novel scheme, including a local map matching rule, a plane representation method, and a key frame filtering process. Our solution removes redundant data during the plane fitting process and achieves higher accuracy. Experimental results prove that our method outperforms other popular methods in terms of trajectory errors and robustness under different scenarios. (C) 2021 Optical Society of America

机译：激光雷达（也称为光探测和测距）和惯性测量单元（IMU）已成为同步定位和测绘（SLAM）系统的核心组件。针对定位精度低、鲁棒性差的问题，我们提出了一种新的定位方法，包括局部地图匹配规则、平面表示方法和关键帧过滤过程。我们的解决方案消除了平面拟合过程中的冗余数据，实现了更高的精度。实验结果表明，在不同场景下，该方法在轨迹误差和鲁棒性方面优于其他常用方法。（2021）美国光学学会

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《Applied optics》 |2021年第18期|共9页
作者
Zhang Yi;
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Sichuan Univ Coll Comp Sci Chengdu 610000 Peoples R China;

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正文语种 eng
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7. Topological localization based on key-frames selection and vocabulary tree for mobile robots [C] . Xiong Dan, Lu Huimin, Zeng Zhiwen, IEEE International Conference on Robotics and Biomimetics . 2013

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9. A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles [O] . Xiaoli Meng, Heng Wang, Bingbing Liu 2017

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11. Micro-Computer Based Dynamic Analysis of Linear Undamped Plane Frame Structures [R] . Goshorn, L. 1985

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Localization scheme based on key frame selection and a reliable plane using lidar and IMU

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