Multi-Mapcher：面向自动驾驶的无需闭环检测的异构LiDAR多会话SLAM——利用鲁棒外点配准
Multi-Mapcher: Loop Closure Detection-Free Heterogeneous LiDAR Multi-Session SLAM Leveraging Outlier-Robust Registration for Autonomous Vehicles
AI总结：
本文提出名为Multi-Mapcher的新型多会话SLAM框架，通过大规模地图到地图的鲁棒外点配准替代传统闭环检测来实现异构LiDAR的会话间初始对齐，并结合锚节点位姿图优化构建全局一致地图，实验证明其性能与速度均优于现有方法。
摘要：
随着各种3D光探测和测距（LiDAR）传感器推向市场，使用异构LiDAR传感器进行多会话同步定位与建图（MSS）的研究正积极开展。现有MSS方法大多依赖闭环检测进行会话间对齐；然而，由于不同会话中使用的传感器在密度和视场（FoV）上存在差异，闭环检测的性能可能会下降。在本研究中，我们挑战了严重依赖闭环检测模块的现有范式，提出了一种名为Multi-Mapcher的新型MSS框架。该框架利用鲁棒外点3D点云配准，执行大规模地图到地图的配准以完成通常被认为不可行的会话间初始对齐。接着，在假设会话间初始对齐足够精确的前提下，通过基于半径搜索找到会话间闭环，并采用基于锚节点的鲁棒位姿图优化来构建全局一致地图。实验表明，对于捕获各会话的各种LiDAR传感器，我们的方法展现出显著更优的MSS性能，且速度快于现有最先进的方法。代码发布于 https://github.com/url-kaist/multi-mapcher。
英文摘要：
As various 3D light detection and ranging (LiDAR) sensors have been introduced to the market, research on multi-session simultaneous localization and mapping (MSS) using heterogeneous LiDAR sensors has been actively conducted. Existing MSS methods mostly rely on loop closure detection for inter-session alignment; however, the performance of loop closure detection can be potentially degraded owing to the differences in the density and field of view (FoV) of the sensors used in different sessions. In this study, we challenge the existing paradigm that relies heavily on loop detection modules and propose a novel MSS framework, called Multi-Mapcher, that employs large-scale map-to-map registration to perform inter-session initial alignment, which is commonly assumed to be infeasible, by leveraging outlier-robust 3D point cloud registration. Next, after finding inter-session loops by radius search based on the assumption that the inter-session initial alignment is sufficiently precise, anchor node-based robust pose graph optimization is employed to build a consistent global map. As demonstrated in our experiments, our approach shows substantially better MSS performance for various LiDAR sensors used to capture the sessions and is faster than state-of-the-art approaches. Our code is available at https://github.com/url-kaist/multi-mapcher.
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