Robust Visual-Lidar Simultaneous Localization and Mapping System for UAV
Jie Qian, Kaiqi Chen, Qinying Chen, Yanhong Yang, Jianhua Zhang, Shengyong Chen
Abstract
Obtaining 3-D data by LIDAR from unmanned aerial vehicles (UAVs) is vital for the field of remote sensing; however, the highly dynamic movement of UAVs and narrow viewpoint of LIDAR pose a great challenge to the self-localization for UAVs based on solely LIDAR sensor. To this end, we propose a robust simultaneous localization and mapping (SLAM) system, which combines the image data obtained by vision sensor and point clouds obtained by LIDAR. In the front-end of the proposed system, the more stable line and plane features are extracted from point clouds through clustering. Then the relative pose between two consecutive frames is computed by the least squares iterative closest point algorithm. Afterward, a novel direct odometry algorithm is developed by combining the image frames and sparse point clouds, where the relative pose is used as a prior. In the back-end, the pose estimation is refined and the 3-D map with texture information is built at a lower frequency. Extensive experiments show that our method can achieve robust and highly precise localization and mapping for UAVs.