Dataset Information

Have I Seen This Place Before? A Fast and Robust Loop Detection and Correction Method for 3D Lidar SLAM.

ABSTRACT: In this paper, we present a complete loop detection and correction system developed for data originating from lidar scanners. Regarding detection, we propose a combination of a global point cloud matcher with a novel registration algorithm to determine loop candidates in a highly effective way. The registration method can deal with point clouds that are largely deviating in orientation while improving the efficiency over existing techniques. In addition, we accelerated the computation of the global point cloud matcher by a factor of 2?4, exploiting the GPU to its maximum. Experiments demonstrated that our combined approach more reliably detects loops in lidar data compared to other point cloud matchers as it leads to better precision?recall trade-offs: for nearly 100% recall, we gain up to 7% in precision. Finally, we present a novel loop correction algorithm that leads to an improvement by a factor of 2 on the average and median pose error, while at the same time only requires a handful of seconds to complete.

SUBMITTER: Vlaminck M

PROVIDER: S-EPMC6339070 | biostudies-literature | 2018 Dec

REPOSITORIES: biostudies-literature

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Have I Seen This Place Before? A Fast and Robust Loop Detection and Correction Method for 3D Lidar SLAM.

Vlaminck Michiel M Luong Hiep H Philips Wilfried W

Sensors (Basel, Switzerland) 20181221 1

In this paper, we present a complete loop detection and correction system developed for data originating from lidar scanners. Regarding detection, we propose a combination of a global point cloud matcher with a novel registration algorithm to determine loop candidates in a highly effective way. The registration method can deal with point clouds that are largely deviating in orientation while improving the efficiency over existing techniques. In addition, we accelerated the computation of the glo ...[more]

PMID: 30577652

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Project description:The application of mobile robots is an important link in the development of intelligent greenhouses. In view of the complex environment of a greenhouse, achieving precise positioning and navigation by robots has become the primary problem to be solved. Simultaneous localization and mapping (SLAM) technology is a hot spot in solving the positioning and navigation in an unknown indoor environment in recent years. Among them, the SLAM based on a two-dimensional (2D) Lidar can only collect the environmental information at the level of Lidar, while the SLAM based on a 3D Lidar demands a high computation cost; hence, it has higher requirements for the industrial computers. In this study, the robot navigation control system initially filtered the information of a 3D greenhouse environment collected by a 3D Lidar and fused the information into 2D information, and then, based on the robot odometers and inertial measurement unit information, the system has achieved a timely positioning and construction of the greenhouse environment by a robot using a 2D Lidar SLAM algorithm in Cartographer. This method not only ensures the accuracy of a greenhouse environmental map but also reduces the performance requirements on the industrial computer. In terms of path planning, the Dijkstra algorithm was used to plan the global navigation path of the robot while the Dynamic Window Approach (DWA) algorithm was used to plan the local navigation path of the robot. Through the positioning test, the average position deviation of the robot from the target positioning point is less than 8 cm with a standard deviation (SD) of less than 3 cm; the average course deviation is less than 3° with an SD of less than 1° at the moving speed of 0.4 m/s. The robot moves at the speed of 0.2, 0.4, and 0.6 m/s, respectively; the average lateral deviation between the actual movement path and the target movement path is less than 10 cm, and the SD is less than 6 cm; the average course deviation is <3°, and the SD is <1.5°. Both the positioning accuracy and the navigation accuracy of the robot can meet the requirements of mobile navigation and positioning in the greenhouse environment.

Project description:PurposeTo develop a motion estimation and correction method for motion-robust three-dimensional (3D) quantitative imaging with 3D-echo-planar time-resolved imaging.Theory and methodsThe 3D-echo-planar time-resolved imaging technique was designed with additional four-dimensional navigator acquisition (x-y-z-echoes) to achieve fast and motion-robust quantitative imaging of the human brain. The four-dimensional-navigator is inserted into the relaxation-recovery deadtime of the sequence in every pulse TR (∼2 s) to avoid extra scan time, and to provide continuous tracking of the 3D head motion and B0 -inhomogeneity changes. By using an optimized spatiotemporal encoding combined with a partial-Fourier scheme, the navigator acquires a large central k-t data block for accurate motion estimation using only four small-flip-angle excitations and readouts, resulting in negligible signal-recovery reduction to the 3D-echo-planar time-resolved imaging acquisition. By incorporating the estimated motion and B0 -inhomogeneity changes into the reconstruction, multi-contrast images can be recovered with reduced motion artifacts.ResultsSimulation shows the cost to the SNR efficiency from the added navigator acquisitions is <1%. Both simulation and in vivo retrospective experiments were conducted, that demonstrate the four-dimensional navigator provided accurate estimation of the 3D motion and B0 -inhomogeneity changes, allowing effective reduction of image artifacts in quantitative maps. Finally, in vivo prospective undersampling acquisition was performed with and without head motion, in which the motion corrupted data after correction show close image quality and consistent quantifications to the motion-free scan, providing reliable quantitative measurements even with head motion.ConclusionThe proposed four-dimensional navigator acquisition provides reliable tracking of the head motion and B0 change with negligible SNR cost, equips the 3D-echo-planar time-resolved imaging technique for motion-robust and efficient quantitative imaging.

Dataset Information

Have I Seen This Place Before? A Fast and Robust Loop Detection and Correction Method for 3D Lidar SLAM.

Publications

Have I Seen This Place Before? A Fast and Robust Loop Detection and Correction Method for 3D Lidar SLAM.

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