论文标题
基因座：一种以高精度探光仪和3D映射的多传感器激光镜头解决方案
LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time
论文作者
论文摘要
可靠的探针源是在极端环境中运行的下一代机器人中实现复杂自主行为的先决条件。在这项工作中，我们提出了一个高精度的激光射击系统，以在具有挑战性的感知条件下实现强大的实时操作。 locus（在不确定设置中用于一致操作的LIDAR进程），提供了一个精确的多阶段扫描匹配单元，该单元配备有健康感知的传感器集成模块，用于无缝融合其他感应方式。我们在感知挑战性的环境中评估了针对最新技术的拟议系统的性能，并展示了顶级定位准确性，以及对传感器失败的鲁棒性的实质性提高。然后，我们在华盛顿州埃尔玛（Elma）的卫星电厂自主探索涉及的各种机器人移动平台上展示了基因座的实时性能，在那里，拟议的系统是Costar团队解决方案的关键要素，该解决方案是DARPA地下挑战的Urban Circuit中赢得了第一名。
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.
