Log In Sign Up

Elasticity Meets Continuous-Time: Map-Centric Dense 3D LiDAR SLAM

by   Chanoh Park, et al.

Map-centric SLAM utilizes elasticity as a means of loop closure. This approach reduces the cost of loop closure while still provides large-scale fusion-based dense maps, when compared to the trajectory-centric SLAM approaches. In this paper, we present a novel framework for 3D LiDAR-based map-centric SLAM. Having the advantages of a map-centric approach, our method exhibits new features to overcome the shortcomings of existing systems, associated with multi-modal sensor fusion and LiDAR motion distortion. This is accomplished through the use of a local Continuous-Time (CT) trajectory representation. Also, our surface resolution preservative matching algorithm and Wishart-based surfel fusion model enables non-redundant yet dense mapping. Furthermore, we present a robust metric loop closure model to make the approach stable regardless of where the loop closure occurs. Finally, we demonstrate our approach through both simulation and real data experiments using multiple sensor payload configurations and environments to illustrate its utility and robustness.


page 2

page 3

page 7

page 11

page 13

page 14

page 15

page 18


Elastic LiDAR Fusion: Dense Map-Centric Continuous-Time SLAM

The concept of continuous-time trajectory representation has brought inc...

Robust Photogeometric Localization over Time for Map-Centric Loop Closure

Map-centric SLAM is emerging as an alternative of conventional graph-bas...

AEROS: Adaptive RObust least-Squares for Graph-Based SLAM

In robot localisation and mapping, outliers are unavoidable when loop-cl...

AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments

We present AutoMerge, a LiDAR data processing framework for assembling a...

An Algorithm for the SE(3)-Transformation on Neural Implicit Maps for Remapping Functions

Implicit representations are widely used for object reconstruction due t...

Wi-Closure: Reliable and Efficient Search of Inter-robot Loop Closures Using Wireless Sensing

In this paper we propose a novel algorithm, Wi-Closure, to improve compu...