Picking the raisins out of the cookie LiDAR based odometry in dynamic urban environments
Publicerad
Författare
Typ
Examensarbete för masterexamen
Master's Thesis
Master's Thesis
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
Reliable localization using LiDAR on pedestrian-scale delivery robots in urban environments
poses distinctive challenges. Methods proven on larger vehicles with
high-end sensors do not necessarily translate to compact platforms with simpler
payloads. This thesis focuses on evaluating some state-of-the-art LiDAR odometry
approaches on a small delivery robot equipped with a LiDAR and other sensors such
as an IMU. By comparing trajectory accuracy, resilience to real-world motion profiles,
and multiple sensor configurations, insight is provided into which techniques
can serve as a reliable baseline and what additional capabilities are required to
achieve practical localization on often more resource-constrained robots.
Building on this foundation, we explore targeted enhancements driven by real-world
observations. We implement a real-time simple dynamic-object filtering approach
that operates in parallel with odometry, based on a range images, where moving
objects are subsequently identified and excised to maintain a static map. To further
mitigate drift over extended runs, we integrate loop-closure adjustments, detecting
and aligning previously visited areas to correct accumulated drift over larger
distances. Together, these refinements demonstrate how a robust baseline can be
augmented to meet the demands of odometry and mapping of a small delivery robot.
Beskrivning
Ämne/nyckelord
LiDAR Odometry, Urban Localization, Dynamic Object Removal, SLAM