Self-Supervised Depth Correction of Lidar Measurements From Map Consistency Loss

Abstract

Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">light detection and ranging</i> sensors (lidars) still suffer from bias related to local surface properties such as measuring beam-to-surface incidence angle. This fact has recently motivated researchers to exploit traditional filters, as well as the deep learning paradigm, in order to suppress the aforementioned depth sensors error while preserving geometric and map consistency details. Despite the effort, depth correction of lidar measurements is still an open challenge mainly due to the lack of clean 3D data that could be used as ground truth. In this paper, we introduce two novel point cloud map consistency losses, which facilitate self-supervised learning on real data of lidar depth correction models. Specifically, the models exploit multiple point cloud measurements of the same scene from different view-points in order to learn to reduce the bias based on the constructed map consistency signal. Complementary to the removal of the bias from the measurements, we demonstrate that the depth correction models help to reduce localization drift. Additionally, we release a data set that contains point cloud scans captured in an indoor corridor environment with precise localization and ground truth mapping information <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^{1}$</tex-math></inline-formula> .