激光雷达惯导耦合的里程计与建图方法.

Aiming at the problems of low accuracy and poor robustness of existing LiDAR odometry methods in outdoor dynamic road scene, this paper proposed a scheme of odometry and mapping based on 3D LiDAR and MEMS IMU. The scheme was consist of four sequential module, namely data preprocessing module,feature extraction considering dynamic obstacles module, laser odometry module and laser mapping module. By using the KITTI data and real scene data, it carried out the qualitative and quantitative accuracy evaluation of the improved scheme and the current popular LOAM and Lego-LOAM schemes. The test results show that the accuracy of the improved scheme is better than LOAM scheme under the real-time requirements of the system, which is equivalent to Lego-LOAM scheme. [ABSTRACT FROM AUTHOR]