Ground-LIO: enhanced LiDAR-inertial odometry for ground robots based on ground optimization

摘要

Abstract In the field of LiDAR-based Simultaneous Localization and Mapping, the potential of ground point clouds to enhance pose estimation in mobile robots has yet to be fully realized. This paper focuses on leveraging ground point clouds to improve the performance of LiDAR-Inertial Odometry (LIO) systems for ground-based mobile robots. We begin by analyzing the characteristics of ground point clouds and the typical types of noise that affect their extraction and utilization. Ground point clouds are then extracted from denoised data. Given the generally local planar nature of ground point clouds, we propose a segmentation-and-refitting approach to process them. This method reduces the computational burden of residual calculation in pose estimation by avoiding redundant plane fitting. Additionally, we introduce a data structure designed for the efficient management and utilization of ground point clouds obtained through segmentation and refitting. This structure is particularly suited to the ground point cloud data produced by our method, enabling efficient access and registration through the continuous maintenance and consolidation of local plane parameters. Our method has been integrated into advanced LIO systems (Bai et al 2022 IEEE Robot. Autom. Lett. 7 4861–8), and experimental results on challenging datasets demonstrate its promising performance.