Map Construction Based on LiDAR Vision Inertial Multi-Sensor Fusion

Abstract

In order to make up for the shortcomings of independent sensors and provide more reliable estimation, a multi-sensor fusion framework for simultaneous localization and mapping is proposed in this paper. Firstly, the light detection and ranging (LiDAR) point cloud is screened in the front-end processing to eliminate abnormal points and improve the positioning and mapping accuracy. Secondly, for the problem of false detection when the LiDAR is surrounded by repeated structures, the intensity value of the laser point cloud is used as the screening condition to screen out robust visual features with high distance confidence, for the purpose of softening. Then, the initial factor, registration factor, inertial measurement units (IMU) factor and loop factor are inserted into the factor graph. A factor graph optimization algorithm based on a Bayesian tree is used for incremental optimization estimation to realize the data fusion. The algorithm was tested in campus and real road environments. The experimental results show that the proposed algorithm can realize state estimation and map construction with high accuracy and strong robustness.