Abstract
AbstractA 3D LIDAR simultaneous localization and mapping scheme with intensity information corrected point clouds is proposed for the traditional simultaneous localization and mapping (slam) methods. Four modules are included in the algorithm: data processing, feature extraction, odometry and mapping. The improved scheme is tested and analysed against the currently popular LOAM and LEGO-LOAM schemes using real measurement data. The results show that the proposed method changes the existing pre-processing method without any increase in pre-processing time. The test results show that the optimization algorithm outperforms the LOAM scheme while meeting the system’s real-time requirements, but is inferior the LEGO-LOAM scheme.KeywordsMappingFeature extractionIntensity informationLOAMLEGO-LOAM
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