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- Publisher Website: 10.1109/ICRA40945.2020.9197440
- Scopus: eid_2-s2.0-85092736254
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Conference Paper: Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
| Title | Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV |
|---|---|
| Authors | |
| Keywords | Laser radar Feature extraction Three-dimensional displays Measurement by laser beam Laser noise |
| Issue Date | 2020 |
| Publisher | IEEE, Computer Society. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000639 |
| Citation | Proceedings of 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 31 May-31 August 2020, p. 3126-3131 How to Cite? |
| Abstract | LiDAR odometry and mapping (LOAM) has been playing an important role in autonomous vehicles, due to its ability to simultaneously localize the robot’s pose and build high-precision, high-resolution maps of the surrounding environment. This enables autonomous navigation and safe path planning of autonomous vehicles. In this paper, we present a robust, real-time LOAM algorithm for LiDARs with small FoV and irregular samplings. By taking effort on both frontend and back-end, we address several fundamental challenges arising from such LiDARs, and achieve better performance in both precision and efficiency compared to existing baselines. To share our findings and to make contributions to the community, we open source our codes on Github |
| Persistent Identifier | http://hdl.handle.net/10722/288472 |
| ISSN | 2020 SCImago Journal Rankings: 0.915 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Lin, J | - |
| dc.contributor.author | Zhang, F | - |
| dc.date.accessioned | 2020-10-05T12:13:25Z | - |
| dc.date.available | 2020-10-05T12:13:25Z | - |
| dc.date.issued | 2020 | - |
| dc.identifier.citation | Proceedings of 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 31 May-31 August 2020, p. 3126-3131 | - |
| dc.identifier.issn | 1050-4729 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/288472 | - |
| dc.description.abstract | LiDAR odometry and mapping (LOAM) has been playing an important role in autonomous vehicles, due to its ability to simultaneously localize the robot’s pose and build high-precision, high-resolution maps of the surrounding environment. This enables autonomous navigation and safe path planning of autonomous vehicles. In this paper, we present a robust, real-time LOAM algorithm for LiDARs with small FoV and irregular samplings. By taking effort on both frontend and back-end, we address several fundamental challenges arising from such LiDARs, and achieve better performance in both precision and efficiency compared to existing baselines. To share our findings and to make contributions to the community, we open source our codes on Github | - |
| dc.language | eng | - |
| dc.publisher | IEEE, Computer Society. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000639 | - |
| dc.relation.ispartof | IEEE International Conference on Robotics and Automation (ICRA) | - |
| dc.rights | IEEE International Conference on Robotics and Automation (ICRA). Copyright © IEEE, Computer Society. | - |
| dc.rights | ©2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
| dc.subject | Laser radar | - |
| dc.subject | Feature extraction | - |
| dc.subject | Three-dimensional displays | - |
| dc.subject | Measurement by laser beam | - |
| dc.subject | Laser noise | - |
| dc.title | Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV | - |
| dc.type | Conference_Paper | - |
| dc.identifier.email | Zhang, F: fuzhang@hku.hk | - |
| dc.identifier.authority | Zhang, F=rp02460 | - |
| dc.identifier.doi | 10.1109/ICRA40945.2020.9197440 | - |
| dc.identifier.scopus | eid_2-s2.0-85092736254 | - |
| dc.identifier.hkuros | 314713 | - |
| dc.identifier.spage | 3126 | - |
| dc.identifier.epage | 3131 | - |
| dc.publisher.place | United States | - |
| dc.identifier.issnl | 1050-4729 | - |