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A LiDAR SLAM with PCA-based Feature Extraction and Two-stage Matching
Shiyi Guo; Zheng Rong; Shuo Wang; Yihong Wu
Source PublicationIEEE Transactions on Instrumentation and Measurement
2022
Issue71Pages:1-11
Abstract

Simultaneous localization and mapping (SLAM) has
been studied for decades in the field of robotics, in which light
detection and ranging (LiDAR) is widely used in various application
areas benefiting from its accessibility of direct, accurate, and
reliable 3-D measurements. However, the performance of LiDAR
SLAM may be degraded when running in degenerate scenario,
which makes it still a challenging problem to realize real-time,
robust, and accurate state estimation in complex environments.
In this article, we propose a keyframe-based 3-D LiDAR SLAM
using an accurate principal component analysis (PCA)-based
feature extraction method and an efficient two-stage matching
strategy, toward a more robust, accurate, and globally consistent
estimation performance. The effectiveness and performance are
demonstrated and evaluated by comparing our method with the
state-of-the-art open-source methods, LOAM and LeGo-LOAM,
on KITTI datasets and custom datasets collected by our sensor
system. The experimental results show obvious improvement of
odometry accuracy and mapping consistency without loss of realtime
performance.

KeywordFeature extraction trajectory measurement light detection and ranging (LiDAR) simultaneous localization and mapping (SLAM) loop closing feature matching
Indexed BySCI
WOS IDWOS:000772451900012
Sub direction classification三维视觉
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/47453
Collection模式识别国家重点实验室_机器人视觉
Corresponding AuthorZheng Rong; Yihong Wu
AffiliationNational Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences, China
First Author AffilicationChinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Shiyi Guo,Zheng Rong,Shuo Wang,et al. A LiDAR SLAM with PCA-based Feature Extraction and Two-stage Matching[J]. IEEE Transactions on Instrumentation and Measurement,2022(71):1-11.
APA Shiyi Guo,Zheng Rong,Shuo Wang,&Yihong Wu.(2022).A LiDAR SLAM with PCA-based Feature Extraction and Two-stage Matching.IEEE Transactions on Instrumentation and Measurement(71),1-11.
MLA Shiyi Guo,et al."A LiDAR SLAM with PCA-based Feature Extraction and Two-stage Matching".IEEE Transactions on Instrumentation and Measurement .71(2022):1-11.
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