LB-LIOSAM: an improved mapping and localization method with loop detection

Abstract

Purpose In large-scale environments, LIO-SAM (Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping) exhibits poor robustness due to the accumulation of errors caused by factors such as the prevalence of similar surroundings and the lack of features in certain open areas. Therefore, the purpose of this study is to optimize the loop detection module of LIO-SAM to reduce error accumulation and enhance mapping and localization performance. Design/methodology/approach Based on the LIO-SAM framework, the LinK3D (Linear Keypoints Representation for 3D LiDAR Point Cloud) feature extraction algorithm is integrated in the front end, while the BoW3D (Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAM) loop detection algorithm is integrated in the back end. The features extracted by LinK3D serve as the range factors for the LiDAR, the BoW3D generates loop closure factors and these, along with inertial measurement unit (IMU) preintegration factors and global positioning system (GPS) factors, are added to the factor graph of LIO-SAM. This addition of constraints enhances the mapping and localization effects, optimizing the overall mapping and localization performance. Findings Based on the electrically controlled car, experiments were conducted in the experimental scenario proposed in this paper. Compared to LIO-SAM, the method presented in this paper significantly reduces cumulative errors. While ensuring real-time performance, it demonstrates superior mapping and localization effects. Originality/value This paper proposes and validates a method that integrates LinK3D, BoW3D and LIO-SAM, named LB-LIOSAM, which enhances the accuracy of feature extraction, optimizes the loop detection module of LIO-SAM and improves its mapping and localization performance in specific environmental scenarios.