一种激光雷达惯性里程计方法、系统和设备及介质
By using direct registration of the original point cloud and gravity estimation, the problems of adaptability and positioning accuracy of lidar inertial odometry in various types of radar were solved, and efficient and accurate lidar inertial odometry was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIHANG UNIV
- Filing Date
- 2023-12-13
- Publication Date
- 2026-07-17
AI Technical Summary
Existing lidar inertial odometry methods are not adaptable to various types of lidar, feature extraction is time-consuming and easily affected by environmental constraints, resulting in low positioning accuracy, especially in self-symmetric scenarios and in the vertical direction where the cumulative error is large.
A direct registration method for raw point clouds without feature extraction is adopted. Ground constraints are used to reduce cumulative elevation errors, and gravity is estimated as a state variable to reduce the impact of inaccuracies during initialization.
It achieves compatibility with various types of LiDAR, saves feature extraction time, reduces cumulative elevation error, and improves positioning accuracy, especially in self-symmetric scenarios where positioning is more accurate.
Smart Images
Figure CN117685999B_ABST