FAST-LIO2快速直接激光雷达惯性测距.pdfVIP

1

FAST-LIO2:FastDirectLiDAR-inertialOdometry

WeiXu,YixiCai,DongjiaoHe,JiarongLin,FuZhang

Abstract—ThispaperpresentsFAST-LIO2:afast,robust,essentialsensorforrobots[9,10].Overthelastdecade,

andversatileLiDAR-inertialodometryframework.BuildingonLiDARshavebeenplayinganincreasinglyimportantrole

ahighlyefficienttightly-couplediteratedKalmanfilter,FAST-inmanyautonomousrobots,suchasself-drivingcars[11]

LIO2hastwokeynoveltiesthatallowfast,robust,andaccurate

LiDARnavigation(andmapping).ThefirstoneisdirectlyandautonomousUAVs[12,13].Recentdevelopmentsin

registeringrawpointstothemap(andsubsequentlyupdateLiDARtechnologieshaveenabledthecommercializationand

themap,i.e.,mapping)withoutextractingfeatures.Thisenablesmassproductionofmorelightweight,cost-effective(inacost

theexploitationofsubtlefeaturesintheenvironmentandhencerangesimilartoglobalshuttercameras),andhighperformance

increasestheaccuracy.Theeliminationofahand-engineered(centimeteraccuracyathundredsofmetersmeasuringrange)

featureextractionmodulealsomakesitnaturallyadaptableto

emergingLiDARsofdifferentscanningpatterns;Thesecondsolid-stateLiDARs[14,15],drawingmuchrecentresearchin-

mainnoveltyismaintainingamapbyanincrementalk-dtreeterests[16]–[20].Theconsiderablyreducedcost,size,weight,

dat