Multimodal Information Fusion for High-Robustness and Low-Drift State Estimation of UGVs in Diverse Scenes

Wu, Dongjie; Zhong, Xiangnan; Peng, Xiafu; Hu, Huosheng; Liu, Qiang

doi:10.1109/tim.2022.3205687

Cited by 7 publications

(2 citation statements)

References 41 publications

(56 reference statements)

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“…The utilization of low-frequency odometry with inadequate real-time performance can result in errors and delays in UGV motion control. Consequently, traditional methods struggle to fulfill the high-frequency and real-time localization demands of UGVs [ 20 , 21 , 22 , 23 ]. By leveraging prior maps for real-time localization, the localization accuracy of UGVs within industrial parks can be significantly enhanced.…”

Section: Introductionmentioning

confidence: 99%

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Robust Localization of Industrial Park UGV and Prior Map Maintenance

Luo

Liu

Zou³

et al. 2023

Sensors

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The precise localization of unmanned ground vehicles (UGVs) in industrial parks without prior GPS measurements presents a significant challenge. Simultaneous localization and mapping (SLAM) techniques can address this challenge by capturing environmental features, using sensors for real-time UGV localization. In order to increase the real-time localization accuracy and efficiency of UGVs, and to improve the robustness of UGVs’ odometry within industrial parks—thereby addressing issues related to UGVs’ motion control discontinuity and odometry drift—this paper proposes a tightly coupled LiDAR-IMU odometry method based on FAST-LIO2, integrating ground constraints and a novel feature extraction method. Additionally, a novel maintenance method of prior maps is proposed. The front-end module acquires the prior pose of the UGV by combining the detection and correction of relocation with point cloud registration. Then, the proposed maintenance method of prior maps is used to hierarchically and partitionally segregate and perform the real-time maintenance of the prior maps. At the back-end, real-time localization is achieved by the proposed tightly coupled LiDAR-IMU odometry that incorporates ground constraints. Furthermore, a feature extraction method based on the bidirectional-projection plane slope difference filter is proposed, enabling efficient and accurate point cloud feature extraction for edge, planar and ground points. Finally, the proposed method is evaluated, using self-collected datasets from industrial parks and the KITTI dataset. Our experimental results demonstrate that, compared to FAST-LIO2 and FAST-LIO2 with the curvature feature extraction method, the proposed method improved the odometry accuracy by 30.19% and 48.24% on the KITTI dataset. The efficiency of odometry was improved by 56.72% and 40.06%. When leveraging prior maps, the UGV achieved centimeter-level localization accuracy. The localization accuracy of the proposed method was improved by 46.367% compared to FAST-LIO2 on self-collected datasets, and the located efficiency was improved by 32.33%. The z-axis-located accuracy of the proposed method reached millimeter-level accuracy. The proposed prior map maintenance method reduced RAM usage by 64% compared to traditional methods.

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