Simultaneous Location and Mapping (SLAM) is a common algorithm for position estimation in GNSS-denied environments. However, the high structural consistency and low lighting conditions in tunnel environments pose challenges for traditional visual SLAM and LiDAR SLAM. To this end, this paper presents LiDAR and optical flow fusion odometry (LOFF), which uses a direction-separated data fusion method to fuse optical flow odometry into the degenerate direction of the LiDAR SLAM without sacrificing the accuracy. Moreover, LOFF incorporates detectors and a compensator, allowing for a smooth transition between general environments and degeneracy environments. This capability facilitates the stable flight of unmanned aerial vehicles (UAVs) in GNSS-denied tunnel environments, including corners and long-distance consistency. Through real-world experiments conducted in a GNSS-denied pedestrian tunnel, we demonstrate the superior position accuracy and trajectory smoothness of LOFF compared to state-of-the-art visual SLAM and LiDAR SLAM.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    LOFF: LiDAR and Optical Flow Fusion Odometry


    Beteiligte:
    Junrui Zhang (Autor:in) / Zhongbo Huang (Autor:in) / Xingbao Zhu (Autor:in) / Fenghe Guo (Autor:in) / Chenyang Sun (Autor:in) / Quanxi Zhan (Autor:in) / Runjie Shen (Autor:in)


    Erscheinungsdatum :

    2024




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    LiDAR-Camera Fusion for Depth Enhanced Unsupervised Odometry

    Fetic, Naida / Aydemir, Eren / Unel, Mustafa | IEEE | 2022


    LiDAR-OdomNet: LiDAR Odometry Network Using Feature Fusion Based on Attention

    Alam, Parvez / Pachamuthu, Rajalakshmi | IEEE | 2024


    DELIO: DECOUPLED LIDAR ODOMETRY

    Thomas, Queens Maria / Wasenmüller, Oliver / Stricker, Didier | British Library Conference Proceedings | 2019


    DeLiO: Decoupled LiDAR Odometry

    Thomas, Queens Maria / Wasenmuller, Oliver / Stricker, Didier | IEEE | 2019


    Unsupervised Learning of 3D Scene Flow With LiDAR Odometry Assistance

    Wang, Guangming / Feng, Zhiheng / Jiang, Chaokang et al. | IEEE | 2025