Dezembro 2024 vol. 11 num. 2 - X Simpósio Internacional de Inovação e Tecnologia

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MAP RECONSTRUCTION AND LOCALIZATION: A COMPARISON OF LIDAR ODOMETRY ALGORITHMS FOR UAV NAVIGATION

MAP RECONSTRUCTION AND LOCALIZATION: A COMPARISON OF LIDAR ODOMETRY ALGORITHMS FOR UAV NAVIGATION

Bastos, Rodrigo Freire ; Nunes, Kelvin Kefren Carvalho Feitosa ; Batista, Lucas Marins ; Pereira, Bruno Schettini Soares ;

Completo:

" In autonomous UAV navigation, LiDAR-based state estimation, localization, and mapping are necessary for precise obstacle avoidance and 3D map reconstruction. This paper provides a comparative study of three remarkable LiDAR Inertial Odometry (LIO) algorithms: FAST-LIO2, LIO-SAM, and LeGO-LOAM. Due to the generic approach of the algorithms, a comparative analysis of the odometry accuracy and mapping quality is proposed in this article, which is conducted in simulation environment with a quadcopter UAV equipped with a 3D LiDAR sensor. Overall analysis on odometry accuracy and mapping quality showed great results on testing the three algorithms. With the dataset tested, most of them showed precise results (less than 0.2 m error)"

Completo:

" In autonomous UAV navigation, LiDAR-based state estimation, localization, and mapping are necessary for precise obstacle avoidance and 3D map reconstruction. This paper provides a comparative study of three remarkable LiDAR Inertial Odometry (LIO) algorithms: FAST-LIO2, LIO-SAM, and LeGO-LOAM. Due to the generic approach of the algorithms, a comparative analysis of the odometry accuracy and mapping quality is proposed in this article, which is conducted in simulation environment with a quadcopter UAV equipped with a 3D LiDAR sensor. Overall analysis on odometry accuracy and mapping quality showed great results on testing the three algorithms. With the dataset tested, most of them showed precise results (less than 0.2 m error)"

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Palavras-chave: LiDAR, Odometry, UAV, Inertia,

Palavras-chave: LiDAR, Odometry, UAV, Inertia,

DOI: 10.5151/siintec2024-393345

Referências bibliográficas
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Como citar:

Bastos, Rodrigo Freire; Nunes, Kelvin Kefren Carvalho Feitosa; Batista, Lucas Marins; Pereira, Bruno Schettini Soares; "MAP RECONSTRUCTION AND LOCALIZATION: A COMPARISON OF LIDAR ODOMETRY ALGORITHMS FOR UAV NAVIGATION", p. 1227-1234 . In: . São Paulo: Blucher, 2024.
ISSN 2357-7592, DOI 10.5151/siintec2024-393345

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