Online Robust Sliding-Windowed LiDAR SLAM in Natural Environments
| Autor: | Pham, Quang-Ha, Tran, Ngoc-Huy, Nguyen, Thanh-Toan, Tran, Thien-Phuc |
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| Rok vydání: | 2021 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| DOI: | 10.1109/ISEE51682.2021.9418728 |
| Popis: | Despite the growing interest for autonomous environmental monitoring, effective SLAM realization in native habitats remains largely unsolved. In this paper, we fill this gap by presenting a novel online graph-based SLAM system for 2D LiDAR sensor in natural environments. By taking advantage of robust weighting scheme, sliding-windowed optimization, fast scan-matcher and parallel computing, our system not only delivers stable performance in cluttered surroudings but also meets real-time constraint. Simulated and experimental results confirm the feasibility and efficiency in the overall design of the proposed system. Comment: Add figure 2 for clearer explanation. in 2021 International Symposium on Electrical and Electronics Engineering (ISEE), Ho Chi Minh City, 2021 |
| Databáze: | arXiv |
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