Robust Lidar-Inertial Odometry with Ground Condition Perception and Optimization Algorithm for UGV

doi:10.3390/s22197424

	Robust Lidar-Inertial Odometry with Ground Condition Perception and Optimization Algorithm for UGV
	Zhao, Zixu 1,2; Zhang, Yucheng 1; Shi, Jinglin 1; Long, Long 1; Lu, Zaiwang 1,2
	2022-10-01
发表期刊	SENSORS
卷号	22 期号:19 页码:19
摘要	Unmanned ground vehicles (UGVs) are making more and more progress in many application scenarios in recent years, such as exploring unknown wild terrain, working in precision agriculture and serving in emergency rescue. Due to the complex ground conditions and changeable surroundings of these unstructured environments, it is challenging for these UGVs to obtain robust and accurate state estimations by using sensor fusion odometry without prior perception and optimization for specific scenarios. In this paper, based on an error-state Kalman filter (ESKF) fusion model, we propose a robust lidar-inertial odometry with a novel ground condition perception and optimization algorithm specifically designed for UGVs. The probability distribution gained from the raw inertial measurement unit (IMU) measurements during a certain time period and the state estimation of ESKF were both utilized to evaluate the flatness of ground conditions in real-time; then, by analyzing the relationship between the current ground condition and the accuracy of the state estimation, the tightly coupled lidar-inertial odometry was dynamically optimized further by adjusting the related parameters of the processing algorithm of the lidar points to obtain robust and accurate ego-motion state estimations of UGVs. The method was validated in various types of environments with changeable ground conditions, and the robustness and accuracy are shown through the consistent accurate state estimation in different ground conditions compared with the state-of-art lidar-inertial odometry systems.
关键词	lidar-inertial odometry ground perception state estimation sensor fusion UGV
DOI	10.3390/s22197424
收录类别	SCI
语种	英语
资助项目	Strategic Priority Research Program of the Chinese Academy of Sciences[XDA28040500]
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
WOS类目	Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000867193000001
出版者	MDPI
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/2XEOYT63/19781
专题	中国科学院计算技术研究所期刊论文
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 100049, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Zixu,Zhang, Yucheng,Shi, Jinglin,et al. Robust Lidar-Inertial Odometry with Ground Condition Perception and Optimization Algorithm for UGV[J]. SENSORS,2022,22(19):19.
APA	Zhao, Zixu,Zhang, Yucheng,Shi, Jinglin,Long, Long,&Lu, Zaiwang.(2022).Robust Lidar-Inertial Odometry with Ground Condition Perception and Optimization Algorithm for UGV.SENSORS,22(19),19.
MLA	Zhao, Zixu,et al."Robust Lidar-Inertial Odometry with Ground Condition Perception and Optimization Algorithm for UGV".SENSORS 22.19(2022):19.