Adaptive Adjustment of Factor’s Weight for a Multi-Sensor SLAM

摘要

Abstract A multi-sensor fusion simultaneous localization and mapping(SLAM) method based on factor graph optimization that can adaptively modify the weight of the graph factor is proposed in this study, to enhance the localization and mapping capability of autonomous robots in tough situations. Firstly, the algorithm fuses multi-lines lidar, monocular camera, and inertial measurement unit(IMU) in the odometry. Second, the factor graph is constructed using lidar and visual odometry as the unary edge and binary edge constraints, respectively, with the motion determined by IMU odometry serving as the primary odometry in the system. Finally, different increments of IMU odometry, lidar odometry and visual odometry are computed as favor factors to realize the adaptive adjustment of the factor’s weight. The suggested method has greater location accuracy and a better mapping effect in complex situations when compared to previous algorithms.