Loop-Closure and Map-Combiner Detection Strategy based on LIDAR Reflectance and Elevation Maps
Loop-Closure and Map-Combiner Detection Strategy based on LIDAR Reflectance and Elevation Maps
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DOI：
10.1109/itsc45102.2020.9294634
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发表时间：
2020-09
期刊：
影响因子：
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通讯作者：
Mohammad Aldibaja;N. Suganuma;R. Yanase;Lu Cao;Keisuke Yoneda;Akisue Kuramoto
中科院分区：
文献类型：
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作者：
Mohammad Aldibaja;N. Suganuma;R. Yanase;Lu Cao;Keisuke Yoneda;Akisue Kuramoto
循环封闭和MAP-COMBINER检测对于鲁棒性启用SLAM技术并在城市和县水平上生成高清图非常重要。此外，检测过程为评估相对和全球位置错误的重新审视区域的地图质量铺平了道路。因此，本文提出了一个独特的框架，用于精确检测循环闭合和地图组合事件，无论驾驶轨迹，车辆传感器配置和环境结构如何。已经选择了一个非常具有挑战性的环境，包括长长的地下隧道和多层交界处，以强调提议的框架的可靠性，可扩展性和鲁棒性。实验结果已经验证了能够准确地检测MAP-COMBINE事件的能力，尽管GNSS/INS-RTK系统存在相当低的定位精度。
Loop-closure and map-combiner detection is very important to robustly enable applying SLAM technology and generate high-definition maps in level of cities and prefectures. In addition, the detection process paves the way to evaluate the map quality at the revisited areas in terms of relative and global position errors. Accordingly, this paper proposes a unique framework for precisely detecting loop-closure and map-combiner events regardless to the driving trajectory, the vehicle sensor configurations and the environment structure. A very challenging environment including long underground tunnel and multilayer junction has been selected to emphasize the reliability, scalability and robustness of the proposed framework. The experimental results have verified the capability to detect the map-combiner events precisely even-though with the existence of a considerable low positioning accuracy by a GNSS/INS-RTK system.