Method

LiDAR SLAM based on Implicit Moving Least Squares Surfaces [la] [IMLS-SLAM]


Submitted on 6 Sep. 2017 12:28 by
Jean-Emmanuel Deschaud (MINES ParisTech)

Running time:1.25 s
Environment:1 core @ >3.5 Ghz (C/C++)

Method Description:
SLAM based on Velodyne data doing ICP Point to
Model (defined as Point Set surfaces) and taking
specific stable sampling.
Parameters:
The main parameter is the number n of previous
sweeps of the Velodyne kept as a map
Latex Bibtex:
@INPROCEEDINGS{8460653,
author={J. Deschaud},
booktitle={2018 IEEE International Conference
on Robotics and Automation (ICRA)},
title={IMLS-SLAM: Scan-to-Model Matching Based
on 3D Data},
year={2018},
volume={},
number={},
pages={2480-2485},
keywords={collision avoidance;mobile
robots;optical radar;remotely operated
vehicles;road traffic control;robot vision;SLAM
(robots);stereo image processing;robotics
community;stereo cameras;depth sensors;Velodyne
LiDAR;autonomous driving;low-drift SLAM
algorithm;3D LiDAR data;scan-to-model matching
framework;specific sampling strategy;LiDAR
scans;Velodyne HDL32;Velodyne HDL64;global
drift;IMLS-SLAM;3D data;simultaneous
localization and mapping;localized LiDAR
sweeps;IMLS surface representation;implicit
moving least squares;size 4.0 km;size 16.0
m;time 10.0 year;Three-dimensional
displays;Laser radar;Simultaneous localization
and mapping;Two dimensional displays;Iterative
closest point algorithm;Observability},
doi={10.1109/ICRA.2018.8460653},
ISSN={2577-087X},
month={May},}

Detailed Results

From all test sequences (sequences 11-21), our benchmark computes translational and rotational errors for all possible subsequences of length (5,10,50,100,150,...,400) meters. Our evaluation ranks methods according to the average of those values, where errors are measured in percent (for translation) and in degrees per meter (for rotation). Details for different trajectory lengths and driving speeds can be found in the plots underneath. Furthermore, the first 5 test trajectories and error plots are shown below.

Test Set Average


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Sequence 11


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Sequence 12


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Sequence 13


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Sequence 14


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Sequence 15


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