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LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time
NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA Department of Electrical and Information Engineering, Polytechnic University of Bari, Bari, Italy.ORCID iD: 0000-0001-8218-3346
NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA Department of Electrical and Information Engineering, Polytechnic University of Bari, Bari, Italy.ORCID iD: 0000-0002-9768-3615
Aptiv, Troy, MI, USA.ORCID iD: 0000-0003-4149-1312
NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA Department of Electrical and Information Engineering, Polytechnic University of Bari, Bari, Italy.
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2021 (English)In: IEEE Robotics and Automation Letters, E-ISSN 2377-3766, Vol. 6, no 2, p. 421-428Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE, 2021. Vol. 6, no 2, p. 421-428
Keywords [en]
Agricultural robots, Autonomous exploration, Consistent operation, Localization accuracy, Next generation robots, Real time performance, Real-time operation, Robotic mobility platforms, State-of-the-art techniques, Optical radar
National Category
Robotics and automation
Research subject
Robotics and Artificial Intelligence
Identifiers
URN: urn:nbn:se:ltu:diva-82474DOI: 10.1109/LRA.2020.3044864ISI: 000604825200004Scopus ID: 2-s2.0-85099057373OAI: oai:DiVA.org:ltu-82474DiVA, id: diva2:1519075
Note

Validerad;2021;Nivå 2;2021-01-18 (johcin);

Funder: National Aeronautics, and Space Administration (80NM0018D0004), Polytechnic University of Bari, SM Optics S.R.L, Defense Advanced Research Projects Agency;

For erratum, see: Palieri, M., et al., (2021). Corrections to “LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time” [Apr 21 421-428]. IEEE Robotics and Automation Letters, 6(2), 3760-3760, April 2021, doi: 10.1109/LRA.2021.3062780

Available from: 2021-01-18 Created: 2021-01-18 Last updated: 2025-02-09Bibliographically approved

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Kanellakis, Christoforos

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