Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels

This letter presents an incremental voxel-based lidar-inertial odometry (LIO) method for fast-tracking spinning and solid-state lidar scans. To achieve the high tracking speed, we neither use complicated tree-based structures to divide the spatial point cloud nor the strict k nearest neighbor (k-NN)...

Celý popis

Uloženo v:
Podrobná bibliografie
Vydáno v:IEEE robotics and automation letters Ročník 7; číslo 2; s. 4861 - 4868
Hlavní autoři: Bai, Chunge, Xiao, Tao, Chen, Yajie, Wang, Haoqian, Zhang, Fang, Gao, Xiang
Médium: Journal Article
Jazyk:angličtina
Vydáno: Piscataway IEEE 01.04.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Algorithms
Data structures
Graphics processing units
Hilbert curve
Laser radar
Lidar
Lidar-inertial odometry
nearest neighbor
Point cloud compression
Queries
Simultaneous localization and mapping
SLAM
Solid state
Spatial data
Spatial databases
Spinning
Tracking
ISSN:2377-3766, 2377-3766
On-line přístup:Získat plný text
Tagy: Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
Popis
Shrnutí:This letter presents an incremental voxel-based lidar-inertial odometry (LIO) method for fast-tracking spinning and solid-state lidar scans. To achieve the high tracking speed, we neither use complicated tree-based structures to divide the spatial point cloud nor the strict k nearest neighbor (k-NN) queries to compute the point matching. Instead, we use the incremental voxels (iVox) as our point cloud spatial data structure, which is modified from the traditional voxels and supports incremental insertion and parallel approximated k-NN queries. We propose the linear iVox and PHC (Pseudo Hilbert Curve) iVox as two alternative underlying structures in our algorithm. The experiments show that the speed of iVox reaches 1000-2000 Hz per scan in solid-state lidars and over 200 Hz for 32 lines spinning lidars only with a modern CPU while still preserving the same level of accuracy.
Bibliografie:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2022.3152830