表格整理了部分本人阅读的基于LOAM的激光SLAM文章。这些工作主要围绕着原版本的几个不足展开:没有回环,没有图优化,线性运动假设简单,松耦合IMU,特征提取简单,动态物体去除。
文章 | 发表 | 作者 | 主要内容 |
LOAM: Lidar Odometry and Mapping in Real-time | RSS 2014 | Ji Zhang and Sanjiv Singh | 基本,IMU松耦合 |
Visual-lidar Odometry and Mapping: Low-drift, Robust, and Fast | ICRA 2015 | Ji Zhang and Sanjiv Singh | 加视觉紧耦合 |
Laser–visual–inertial odometry and mapping with high robustness and low drift | JFR 2017 | Ji Zhang and Sanjiv Singh | 加IMU紧耦合,分析了退化场景下的耦合方法 |
LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain | IROS 2018 | Tixiao Shan and Brendan Englot | 地面划分从而滤除噪声特征点,在有植被时表现明显更加鲁棒,优化问题拆成两个部分计算,减少了迭代步数 |
LLOAM: LiDAR Odometry and Mapping with Loopclosure Detection Based Correction | 2019 IEEE International Conference on Mechatronics and Automation August 4 - 7, Tianjin, China | Xingliang Ji, Lin Zuo, Changhua Zhang, Yu Liu | 加闭环 |
Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV | ICRA 2019 | Jiarong Lin and Fu Zhang | 解决小FOV雷达应用场景,在动态滤除,特征点,运动补偿上做了改进 |
A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments | IROS 2019 | Shibo Zhao1, Zheng Fang1, HaoLai Li1, Sebastian Scherer2 | CNN去除动态车辆,基于ESKF耦合IMU,mapping使用NDT,解决高速路运动快、车辆多的场景 |
Optimized LOAM Using Ground Plane Constraints and SegMatch-Based Loop Detection | Sensors | Xiao Liu 1,2,*, Lei Zhang 2, Shengran Qin 2,3, Daji Tian 2, Shihan Ouyang 2,3 and Chu Chen 1,2 | 添加基于segmatch的闭环,和地面约束 |
Trajectory Optimization of LiDAR SLAM Based on Local Pose Graph | 在LOAM后端加了位置图优化,效果有一定的提升 | ||
Tightly Coupled 3D Lidar Inertial Odometry and Mapping | ICRA 2019 | Haoyang Ye1, Yuying Chen1 and Ming Liu1 | 紧耦合IMU,同时有局部图优化,在线标定外参,高动态场景有较大提升 |
IN2LAMA: INertial Lidar Localisation And MApping | ICRA 2019 | Cedric Le Gentil, Teresa Vidal-Calleja and Shoudong Huang | 离线,特征提取更加耐心细致,对IMU进行上采样,并且紧耦合,从而更好的去除畸变 |
R-LINS: A Robocentric Lidar-Inertial State Estimator for Robust and Efficient Navigation | ICRA 2020 | Chao Qin, Haoyang Ye, Christian E. Pranata, Jun Han, Shuyang Zhang, and Ming Liu, Senior Member, IEEE | ESKF 耦合IMU |
LIC-Fusion: LiDAR-Inertial-Camera Odometry | IROS 2019 | Xingxing Zuo∗, Patrick Genevayy, Woosik Leey, Yong Liu∗, and Guoquan Huangy | 紧耦合IMU,视觉和激光,基于滤波框架MSCKF |
Robust High Accuracy Visual-Inertial-Laser SLAM System | IROS 2019 | Zengyuan Wang1, Jianhua Zhang1, Shengyong Chen2, Conger Yuan1, Jingqian Zhang1 and Jianwei Zhang3 | 紧耦合视觉IMU,整合VINS和LOAM,也有回环 |
A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3D Reconstructions | IROS 2019 | Weikun Zhen Yaoyu Hu Jingfeng Liu Sebastian Scherer | 三维重建,紧耦合视觉,更加细致地处理了外参计算问题 |