ASL-SLAM: A LiDAR SLAM With Activity Semantics-Based Loop Closure

Abstract

A practical back-end module with loop closure detection is very useful and important for a LiDAR simultaneous localization and mapping (SLAM) system to perform high-precision positioning and mapping tasks. However, most existing loop closure detection methods are based on images or point clouds, and these methods may produce errors when the structure or texture is similar. To overcome this problem, we propose a complete LiDAR SLAM system, including a front-end odometry module based on normal distribution transform (NDT)-LOAM and a back-end optimization module with loop closure based on activity semantics. Through the analysis and calculation of inertial measurement unit (IMU) data from SLAM platforms such as unmanned ground vehicles (UGVs), the activity semantics of turning and passing over a speed bump are detected based on the peak <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${z}$ </tex-math></inline-formula> -axis angular velocity and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${z}$ </tex-math></inline-formula> -axis acceleration, respectively. Then, according to this activity semantics information and its unique and definite attributes, we establish correct loop closure detection using rough geometric detection, activity semantics matching, and point cloud rematching for validation. Finally, graph optimization theory is utilized to reduce the global cumulative error, improve the global trajectory accuracy and map consistency, and obtain the final global motion trajectory and point cloud map. We collected a dataset for evaluation, which contains indoor data, outdoor data, and indoor–outdoor integration data, and we also evaluated our method on the KITTI dataset. The experimental results for different scenes show that the addition of activity semantics can effectively help loop closure detection and improve LiDAR SLAM system performance.