LIO-Fusion: Reinforced LiDAR Inertial Odometry by Effective Fusion with GNSS/Relocalization and Wheel Odometry
Reliable state estimation is a prerequisite for autonomous robot navigation in complex environments. In this work, we present LIO-Fusion, a reinforced LiDAR inertial odometry system that optimally fuses GNSS/relocalization and wheel odometry to provide accurate and robust 6-DoF movement estimation u...
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Published in | IEEE robotics and automation letters Vol. 8; no. 3; pp. 1 - 8 |
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Main Authors | , , , , , |
Format | Journal Article |
Language | English |
Published |
Piscataway
IEEE
01.03.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subjects | |
Online Access | Get full text |
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Summary: | Reliable state estimation is a prerequisite for autonomous robot navigation in complex environments. In this work, we present LIO-Fusion, a reinforced LiDAR inertial odometry system that optimally fuses GNSS/relocalization and wheel odometry to provide accurate and robust 6-DoF movement estimation under challenging perceptual conditions. LIO-Fusion formulates multi-source sensors fusion based on factor graph, allowing a multitude of relative and absolute measurements which may be degraded, disturbed or even inaccessible. In the LIO-Fusion system, online initialization consists of point cloud feature extraction and matching, IMU preintegration, encoder integration, GNSS calibration and prior-map relocalization. Then, its global reinforcement module detects the reliability of GNSS/relocalization to obtain healthy GNSS/relocalization factors, whereas the local reinforcement module uses a sub-factor graph to fuse prior estimation results for the reinforced local odometry factor. Finally, the basic LiDAR/IMU factors, healthy GNSS/relocalization factors and reinforced local odometry factor are jointly used to constrain the system state in the main factor graph such that low-drift odometry under LiDAR degradation can be reliably obtained and corrected globally. We extensively evaluated the real-time LIO-Fusion system by real-world experiments, and compared its performance to other state-of-the-art methods on large-scale datasets collected in the urban and hazardous environments. Results have shown that LIO-Fusion yielded high precision localization and mapping accuracy as well as robustness to sensor failures. |
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ISSN: | 2377-3766 2377-3766 |
DOI: | 10.1109/LRA.2023.3240372 |