LODESTAR: 退化環境に適応するLiDAR慣性オドメトリと適応型Schmidt-Kalmanフィルタ
LODESTAR: Degeneracy-Aware LiDAR-Inertial Odometry with Adaptive Schmidt-Kalman Filter and Data Exploitation
LiDAR慣性オドメトリにおいて、長い廊下や高高度飛行などの退化環境で生じる状態推定の劣化に対処するため、退化度に応じて状態を固定・活性化する適応型Schmidt-Kalmanフィルタとデータ活用戦略を提案し、精度を向上させた。
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著者: Eungchang Mason Lee, Kevin Christiansen Marsim, Hyun Myung
分類: cs.RO
原文アブストラクト
LiDAR-inertial odometry (LIO) has been widely used in robotics due to its high accuracy. However, its performance degrades in degenerate environments, such as long corridors and high-altitude flights, where LiDAR measurements are imbalanced or sparse, leading to ill-posed state estimation. In this letter, we present LODESTAR, a novel LIO method that addresses these degeneracies through two key modules: degeneracy-aware adaptive Schmidt-Kalman filter (DA-ASKF) and degeneracy-aware data exploitation (DA-DE). DA-ASKF employs a sliding window to utilize past states and measurements as additional constraints. Specifically, it introduces degeneracy-aware sliding modes that adaptively classify states as active or fixed based on their degeneracy level. Using Schmidt-Kalman update, it partially optimizes active states while preserving fixed states. These fixed states influence the update of active states via their covariances, serving as reference anchors--akin to a lodestar. Additionally, DA-DE prunes less-informative measurements from active states and selectively exploits measurements from fixed states, based on their localizability contribution and the condition number of the Jacobian matrix. Consequently, DA-ASKF enables degeneracy-aware constrained optimization and mitigates measurement sparsity, while DA-DE addresses measurement imbalance. Experimental results show that LODESTAR outperforms existing LiDAR-based odometry methods and degeneracy-aware modules in terms of accuracy and robustness under various degenerate conditions.
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