TOWARDS AUTONOMOUS HIGH-DEFINITION MAP CONSTRUCTION

to related objects

Abstract. This paper presents a GPS constrained SLAM solution, which adds reliable GPS observations as key frames to the state-of-the-art SLAM algorithm Lightweight and Ground-Optimized Lidar Odometry and Mapping (LeGO-LOAM). As the GPS has a much higher frequency than that of lidar, we first assign each lidar frame with GPS time, then every 5 seconds, a reliable GPS observation is inserted as a key frame to the pose graph, then optimizes the pose estimation and updates the old key frames. We test our method with two platforms in real driving scene, and compare its performance with LeGO-LOAM, where LeGO-LOAM cannot acquire realtime efficiency. The difference of lidar odometry of our solution with compare to RTK-GPS is less than 0.4m, with the globally referenced map can be used for relocalization.

Location
Deutsche Nationalbibliothek Frankfurt am Main
Extent
Online-Ressource
Language
Englisch

Bibliographic citation
TOWARDS AUTONOMOUS HIGH-DEFINITION MAP CONSTRUCTION ; volume:X-1/W1-2023 ; year:2023 ; pages:447-452 ; extent:6
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences ; X-1/W1-2023 (2023), 447-452 (gesamt 6)

Creator
Wu, J.
Wang, X.
Zhang, P.
Song, W.
Chen, M.

DOI
10.5194/isprs-annals-X-1-W1-2023-447-2023
URN
urn:nbn:de:101:1-2023120703282490259089
Rights
Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
Last update
15.08.2025, 7:32 AM CEST

Data provider

This object is provided by:
Deutsche Nationalbibliothek. If you have any questions about the object, please contact the data provider.
Show original at data provider

Associated

  • Wu, J.
  • Wang, X.
  • Zhang, P.
  • Song, W.
  • Chen, M.

Other Objects (12)

INFORMATION EXTRACTION OF TOURIST GEOLOGICAL RESOURCES BASED ON 3D VISUALIZATION REMOTE SENSING IMAGE

INFORMATION EXTRACTION OF TOURIST GEOLOGICAL RESOURCES BASED ON 3D VISUALIZATION REMOTE SENSING IMAGE

HUMAN DETECTION BASED ON A SEQUENCE OF THERMAL IMAGES USING DEEP LEARNING

HUMAN DETECTION BASED ON A SEQUENCE OF THERMAL IMAGES USING DEEP LEARNING

THE REGIONAL DIFFERENCES OF GPP ESTIMATION BY SOLAR INDUCED FLUORESCENCE

THE REGIONAL DIFFERENCES OF GPP ESTIMATION BY SOLAR INDUCED FLUORESCENCE

WATERBODIES EXTRACTION FROM LANDSAT8-OLI IMAGERY USING AWATER INDEXS-GUIED STOCHASTIC FULLY-CONNECTED CONDITIONAL RANDOM FIELD MODEL AND THE SUPPORT VECTOR MACHINE

WATERBODIES EXTRACTION FROM LANDSAT8-OLI IMAGERY USING AWATER INDEXS-GUIED STOCHASTIC FULLY-CONNECTED CONDITIONAL RANDOM FIELD MODEL AND THE SUPPORT VECTOR MACHINE

URBAN BUILDING COLLAPSE DETECTION USING VERY HIGH RESOLUTION IMAGERY AND AIRBORNE LIDAR DATA

URBAN BUILDING COLLAPSE DETECTION USING VERY HIGH RESOLUTION IMAGERY AND AIRBORNE LIDAR DATA

ACCURACY EVALUATION OF ICESAT-2 ATL08 IN FINLAND

ACCURACY EVALUATION OF ICESAT-2 ATL08 IN FINLAND

A METHOD FOR TRUE ORTHOPHOTO GENERATION BASED ON PROJECTION AND ITERATION STRATEGY

A METHOD FOR TRUE ORTHOPHOTO GENERATION BASED ON PROJECTION AND ITERATION STRATEGY

Paleofires and the dynamics of carbon cycling in Chinese Loess Plateau over the last two glacial cycles

Paleofires and the dynamics of carbon cycling in Chinese Loess Plateau over the last two glacial cycles

CONSTRUCTION AND APPLICATION OF ENHANCED REMOTE SENSING ECOLOGICAL INDEX

CONSTRUCTION AND APPLICATION OF ENHANCED REMOTE SENSING ECOLOGICAL INDEX

Fibrin sealant for closure of mucosal penetration at the cardia during peroral endoscopic myotomy (POEM)

Fibrin sealant for closure of mucosal penetration at the cardia during peroral endoscopic myotomy (POEM)

REGULARIZED REBUILD WORKFLOW OF HBIM FOR BUILT HERITAGE DOCUMENTATION

REGULARIZED REBUILD WORKFLOW OF HBIM FOR BUILT HERITAGE DOCUMENTATION

ROBUST IMAGE ORIENTATION BASED ON RELATIVE ROTATIONS AND TIE POINTS

ROBUST IMAGE ORIENTATION BASED ON RELATIVE ROTATIONS AND TIE POINTS

Related objects