DeepAI
Log In Sign Up

P3-LOAM: PPP/LiDAR Loosely Coupled SLAM with Accurate Covariance Estimation and Robust RAIM in Urban Canyon Environment

12/04/2020
by   Tao Li, et al.
0

Light Detection and Ranging (LiDAR) based Simultaneous Localization and Mapping (SLAM) has drawn increasing interests in autonomous driving. However, LiDAR-SLAM suffers from accumulating errors which can be significantly mitigated by Global Navigation Satellite System (GNSS). Precise Point Positioning (PPP), an accurate GNSS operation mode independent of base stations, gains more popularity in unmanned systems. Considering the features of the two technologies, LiDAR-SLAM and PPP, this paper proposes a SLAM system, namely P3-LOAM (PPP based LiDAR Odometry and Mapping) which couples LiDAR-SLAM and PPP. For better integration, we derive LiDAR-SLAM positioning covariance by using Singular Value Decomposition (SVD) Jacobian model, since SVD provides an explicit analytic solution of Iterative Closest Point (ICP), which is a key issue in LiDAR-SLAM. A novel method is then proposed to evaluate the estimated LiDAR-SLAM covariance. In addition, to increase the reliability of GNSS in urban canyon environment, we develop a LiDAR-SLAM assisted GNSS Receiver Autonomous Integrity Monitoring (RAIM) algorithm. Finally, we validate P^3-LOAM with UrbanNav, a challenging public dataset in urban canyon environment. Comprehensive test results prove that P3-LOAM outperforms benchmarks such as Single Point Positioning (SPP), PPP, LeGO-LOAM, SPP-LOAM, and loosely coupled navigation system proposed by the publisher of UrbanNav in terms of accuracy and availability.

READ FULL TEXT

page 1

page 7

page 10

page 11

04/17/2021

ARES: Accurate, Autonomous, Near Real-time 3D Reconstruction using Drones

Drones will revolutionize 3D modeling. A 3D model represents an accurate...
04/12/2021

Point wise or Feature wise? Benchmark Comparison of Public Available LiDAR Odometry Algorithms in Urban Canyons

Robust and precise localization is essential for the autonomous system w...
04/30/2021

Technology Report : Robotic Localization and Navigation System for Visible Light Positioning and SLAM

Visible light positioning (VLP) technology is a promising technique as i...
04/26/2022

Centimeter-level Positioning by Instantaneous Lidar-aided GNSS Ambiguity Resolution

High-precision vehicle positioning is key to the implementation of moder...
06/23/2018

Robust Navigation In GNSS Degraded Environment Using Graph Optimization

Robust navigation in urban environments has received a considerable amou...