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arXiv · 2012.14447

LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time

M. Palieri·B. Morrell·A Thakur·K. Ebadi·J. Nash·A. Chatterjee·C. Kanellakis·L. Carlone·C. Guaragnella·A. Agha-mohammadi
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Abstract

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.

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M. Palieri, B. Morrell, A Thakur, K. Ebadi, J. Nash, A. Chatterjee, C. Kanellakis, L. Carlone, C. Guaragnella, A. Agha-mohammadi. 2020-12-28. LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time. https://doi.org/10.1109/lra.2020.3044864

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