Laser SLAM Pose Optimization Algorithm Based on Graph Optimization Theory and GNSS

Shidong Lu; Meiyi Tu; Xiaoyong Luo; Chao Guo

doi:10.3788/LOP57.081024

[1] Liu M, Shu Q, Yang Y X et al. Three-dimensional point cloud registration based on independent component analysis[J]. Laser & Optoelectronics Progress, 56, 011203(2019).

[2] Liu Q, Duan F H, Sang Y et al. A survey of loop-closure detection method of visual SLAM in complex environments[J]. Robot, 41, 112-123, 136(2019).

[3] Alismail H, Baker L D, Browning B. Continuous trajectory estimation for 3D SLAM from actuated lidar. [C]∥2014 IEEE International Conference on Robotics and Automation (ICRA), May 31-June 7, 2014, Hong Kong, China. New York: IEEE, 6096-6101(2014).

[4] Wen G C, Zeng B, Chen Y H. Loop closure detection method for large scale map of laser SLAM[J]. Application Research of Computers, 35, 1724-1727, 1732(2018).

[5] Galvez-López D, Tardos J D. Bags of binary words for fast place recognition in image sequences[J]. IEEE Transactions on Robotics, 28, 1188-1197(2012).

[6] Pierzchała M, Giguère P, Astrup R. Mapping forests using an unmanned ground vehicle with 3D LiDAR and graph-SLAM[J]. Computers and Electronics in Agriculture, 145, 217-225(2018).

[7] Davison A J, Reid I D, Molton N D et al. MonoSLAM: real-time single camera SLAM[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 29, 1052-1067(2007).

[8] Chen W, Wu T, Li Z et al. A monocular vision SLAM algorithm based on particle filter[J]. Robot, 30, 242-247, 253(2008).

[9] Zhang Y, Chen Q, Luo Y. Three dimensional visual SLAM for mobile robots in indoor environments[J]. CAAI Transactions on Intelligent Systems, 10, 615-619(2015).

[10] Lin H C, Lü Q, Wei H et al. Quadrotor autonomous flight and three-dimensional dense reconstruction based on VI-SLAM[J]. Acta Optica Sinica, 38, 0715004(2018).

[11] Soloviev A. Bates D, van Graas F. Tight coupling of laser scanner and inertial measurements for a fully autonomous relative navigation solution[J]. Navigation, 54, 189-205(2007).

[12] Marks T K, Howard A, Bajracharya M et al. Gamma-SLAM: using stereo vision and variance grid maps for SLAM in unstructured environments. [C]∥2008 IEEE International Conference on Robotics and Automation, May 19-23, 2008. Pasadena, CA, USA. New York: IEEE, 3717-3724(2008).

[13] Murphy K, Russell S. Rao-blackwellised particle filtering for dynamic Bayesian networks[M]. ∥Doucet A, de Freitas N, Gordon N. Sequential Monte Carlo methods in practice. Statistics for engineering and information science. New York, NY: Springer, 499-515(2001).

[14] Schleicher D, Bergasa L M, Ocaña M et al. Real-time hierarchical GPS aided visual SLAM on urban environments[M]. ∥Moreno-Díaz R, Pichler F, Quesada-Arencibia A. Computer aided systems theory-EUROCAST 2009. Lecture notes in computer science. Berlin, Heidelberg: Springer, 5717, 326-333(2009).

[15] Chen X, He B W. A fast global registration algorithm based on correcting point cloud principal component coordinate system[J]. Laser & Optoelectronics Progress, 55, 061003(2018).

[16] Cadena C, Carlone L, Carrillo H et al. Past, present, and future of simultaneous localization and mapping: toward the robust-perception age[J]. IEEE Transactions on Robotics, 32, 1309-1332(2016).

[17] Latif Y, Cadena C, Neira J. Robust loop closing over time for pose graph SLAM[J]. The International Journal of Robotics Research, 32, 1611-1626(2013).

[18] Iserles A. Munthe-Kaas H Z, Nørsett S P, et al. Lie-group methods[J]. Acta Numerica, 9, 215-365(2000).

[19] Carlson J. Mapping large, urban environments with GPS-aided slam[D]. Pittsburgh: Carnegie Mellon University, 49-71(2010).

[20] Endres F, Hess J, Sturm J et al. 3-D mapping with an RGB-D camera[J]. IEEE Transactions on Robotics, 30, 177-187(2014).

[21] Shan T X, Englot B. LeGO-LOAM: lightweight and ground-optimized lidar odometry and mapping on variable terrain. [C]∥2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 1-5, 2018. Madrid, Spain. New York: IEEE, 4758-4765(2018).

[22] Hess W, Kohler D, Rapp H et al. Real-time loop closure in 2D LIDAR SLAM. [C]∥2016 IEEE International Conference on Robotics and Automation (ICRA), May 16-21, 2016. Stockholm, Sweden. New York: IEEE, 1271-1278(2016).