LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time
Name
2012.14447.pdf
Description
Accepted version
Size
7.15 MB
Format
Adobe PDF
Checksum (MD5)
db1684a1ed4d8955fdbd85bb5702c363
Author(s)
Palieri, Matteo
Morrell, Benjamin
Thakur, Abhishek
Ebadi, Kamak
Nash, Jeremy
Chatterjee, Arghya
Kanellakis, Christoforos
Carlone, Luca
Guaragnella, Cataldo
Agha-mohammadi, Ali-akbar
Date Issued
2021
Journal
IEEE Robotics and Automation Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Version
Author's final manuscript
Abstract
IEEE 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.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/LRA.2020.3044864
