FAR-LIO: 高速自律走行を実現する高速・高精度・堅牢なLiDAR-慣性オドメトリ
FAR-LIO: Enabling High-Speed Autonomy through Fast, Accurate, and Robust LiDAR-Inertial Odometry
CUDAで高速化したLiDAR-慣性オドメトリフレームワークFAR-LIOを提案し、自律レースなど高速移動環境での低遅延・高精度な位置推定を実現した。
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著者: Maximilian Leitenstern, Marcel Weinmann, Patrick Haft, Tobias Lasser, Dominik Kulmer, Markus Lienkamp
分類: cs.RO
原文アブストラクト
Robust and accurate odometry estimation is essential in modern robotics. In environments characterized by highly dynamic motion and sensor noise, odometry estimation becomes increasingly challenging. Autonomous racing combines both factors in an unstructured setting, where minimizing odometry latency is essential for stable closed-loop control. This paper introduces FAR-LIO, a highly optimized CUDA-accelerated LiDAR-inertial odometry framework developed for Fast, Accurate, and Robust performance. Our system leverages a novel CUDA-based voxel hashmap to enable parallelized nearest-neighbor search and efficient map updates. We employ a sparsity-aware Generalized Iterative Closest Point algorithm with adaptive thresholding on top of the CUDA-based voxel hashmap with adaptive density to achieve low-latency without compromising accuracy. An Extended Kalman Filter serves as a robust backend. It utilizes an upsampling and delay compensation strategy to fuse the LiDAR odometry with high-frequency IMU data, thereby ensuring a robust and smooth odometry output. We evaluate FAR-LIO across four different sensor setups, using both public datasets and data from two autonomous racecars driving at speeds of up to 250 km/h. FAR-LIO achieves an average 6.9% reduction in the positional error and 38.4% lower runtime compared to state-of-the-art baselines on target hardware using a single parameter set. This demonstrates its computational efficiency and broad applicability. To build upon our work, our code is available open-source on https://github.com/TUMFTM/FAR-LIO.
