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 ;

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

Full Article:

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