A novel 3D LiDAR deep learning approach for uncrewed vehicle odometry

Autor: Wang QiXin, Wang Mingju
Jazyk: angličtina
Rok vydání: 2024
Předmět:
Zdroj: PeerJ Computer Science, Vol 10, p e2189 (2024)
Druh dokumentu: article
ISSN: 2376-5992
DOI: 10.7717/peerj-cs.2189
Popis: Self-localization and pose registration are required for sound operation of next generation autonomous vehicles under uncertain environments. Thus, precise localization and mapping are crucial tasks in odometry, planning and other downstream processing. In order to reduce information loss in preprocessing, we propose leveraging LiDAR-based localization and mapping (LOAM) with point cloud-based deep learning instead of convolutional neural network (CNN) based methods that require cylindrical projection. The normal distribution transform (NDT) algorithm is then used to refine the former coarse pose estimation from the deep learning model. The results demonstrate that the proposed method is comparable in performance to recent benchmark studies. We also explore the possibility of using Product Quantization to improve NDT internal neighborhood searching by using high-level features as fingerprints.
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