Online Robust Sliding-Windowed LiDAR SLAM in Natural Environments

01/17/2021
by   Ha Pham-Quang, et al.
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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.

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