Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 6, Issue 2, Pages 421-428Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2020.3044864
Keywords
Localization; mapping; robotics in hazardous fields; SLAM; sensor fusion
Categories
Funding
- Jet Propulsion Laboratory - California Institute of Technology
- National Aeronautics, and Space Administration [80NM0018D0004]
- Polytechnic University of Bari
- SM Optics S.R.L
- DefenseAdvanced Research Projects Agency (DARPA)
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A high-precision lidar odometry system, named LOCUS, is proposed in this work to achieve robust and real-time operation under challenging perceptual conditions, incorporating a multi-stage scan matching unit and a sensor integration module for seamless fusion.
A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time operation under challenging perceptual conditions. LOCUS (Lidar Odometry for Consistent operation in Uncertain Settings), provides an accurate multi-stage scan matching unit equipped with an health-aware sensor integration module for seamless fusion of additional sensing modalities. We evaluate the performance of the proposed system against state-of-the-art techniques in perceptually challenging environments, and demonstrate top-class localization accuracy along with substantial improvements in robustness to sensor failures. We then demonstrate real-time performance of LOCUS on various types of robotic mobility platforms involved in the autonomous exploration of the Satsop power plant in Elma, WA where the proposed system was a key element of the CoSTAR team's solution that won first place in the Urban Circuit of the DARPA Subterranean Challenge.
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