Efficient and adaptive lidar-visual-inertial odometry for agricultural unmanned ground vehicle

doi:10.1177/17298806221094925

	Efficient and adaptive lidar-visual-inertial odometry for agricultural unmanned ground vehicle
	Zhao, Zixu 1,2; Zhang, Yucheng 1; Long, Long 1; Lu, Zaiwang 1; Shi, Jinglin 1
	2022-03-01
发表期刊	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN	1729-8814
卷号	19 期号:2 页码:15
摘要	The accuracy of agricultural unmanned ground vehicles' localization directly affects the accuracy of their navigation. However, due to the changeable environment and fewer features in the agricultural scene, it is challenging for these unmanned ground vehicles to localize precisely in global positioning system-denied areas with a single sensor. In this article, we present an efficient and adaptive sensor-fusion odometry framework based on simultaneous localization and mapping to handle the localization problems of agricultural unmanned ground vehicles without the assistance of a global positioning system. The framework leverages three kinds of sub-odometry (lidar odometry, visual odometry and inertial odometry) and automatically combines them depending on the environment to provide accurate pose estimation in real time. The combination of sub-odometry is implemented by trading off the robustness and the accuracy of pose estimation. The efficiency and adaptability are mainly reflected in the novel surfel-based iterative closest point method for lidar odometry we propose, which utilizes the changeable surfel radius range and the adaptive iterative closest point initialization to improve the accuracy of pose estimation in different environments. We test our system in various agricultural unmanned ground vehicles' working zones and some other open data sets, and the results prove that the proposed method shows better performance mainly in accuracy, efficiency and robustness, compared with the state-of-art methods.
关键词	Sensor-fusion SLAM localization agricultural UGV
DOI	10.1177/17298806221094925
收录类别	SCI
语种	英语
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000789932400001
出版者	SAGE PUBLICATIONS INC
引用统计	被引频次：7[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://119.78.100.204/handle/2XEOYT63/19637
专题	中国科学院计算技术研究所期刊论文_英文
通讯作者	Zhao, Zixu
作者单位	1.Chinese Acad Sci, Inst Comp Technol, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Zixu,Zhang, Yucheng,Long, Long,et al. Efficient and adaptive lidar-visual-inertial odometry for agricultural unmanned ground vehicle[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2022,19(2):15.
APA	Zhao, Zixu,Zhang, Yucheng,Long, Long,Lu, Zaiwang,&Shi, Jinglin.(2022).Efficient and adaptive lidar-visual-inertial odometry for agricultural unmanned ground vehicle.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,19(2),15.
MLA	Zhao, Zixu,et al."Efficient and adaptive lidar-visual-inertial odometry for agricultural unmanned ground vehicle".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 19.2(2022):15.