DOI: 10.3390/rs15164040 ISSN:

RSS-LIWOM: Rotating Solid-State LiDAR for Robust LiDAR-Inertial-Wheel Odometry and Mapping

Shunjie Gong, Chenghao Shi, Hui Zhang, Huimin Lu, Zhiwen Zeng, Xieyuanli Chen
  • General Earth and Planetary Sciences

Solid-state LiDAR offers multiple advantages over mechanism mechanical LiDAR, including higher durability, improved coverage ratio, and lower prices. However, solid-state LiDARs typically possess a narrow field of view, making them less suitable for odometry and mapping systems, especially for mobile autonomous systems. To address this issue, we propose a novel rotating solid-state LiDAR system that incorporates a servo motor to continuously rotate the solid-state LiDAR, expanding the horizontal field of view to 360°. Additionally, we propose a multi-sensor fusion odometry and mapping algorithm for our developed sensory system that integrates an IMU, wheel encoder, motor encoder and the LiDAR into an iterated Kalman filter to obtain a robust odometry estimation. Through comprehensive experiments, we demonstrate the effectiveness of our proposed approach in both outdoor open environments and narrow indoor environments.

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