FMCW-LIO：一种多普勒激光雷达-惯性里程计
FMCW-LIO: A Doppler LiDAR-Inertial Odometry
- University of Macau（澳门大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
针对传统LIO依赖几何特征的问题，提出FMCW-LIO，利用FMCW多普勒激光雷达的固有速度测量，通过运动补偿与多普勒辅助观测模型实现鲁棒状态估计与静态建图，在退化环境中表现优异。
AI中文摘要：
传统的激光雷达-惯性里程计（LIO）或同时定位与建图（SLAM）方法严重依赖环境的几何特征，因为激光雷达主要提供距离测量而非运动测量。然而，从现在起，得益于新型调频连续波（FMCW）多普勒激光雷达，这种情况发生了变化。FMCW多普勒激光雷达不仅提供高分辨率的点距离，还通过多普勒效应捕获瞬时点速度。在本文中，我们提出了FMCW-LIO，一种新颖且鲁棒的LIO，利用FMCW多普勒激光雷达固有的多普勒测量。为了正确利用多普勒速度，设计了一种运动补偿方法，并应用了多普勒辅助观测模型进行流形上的状态估计。然后，通过多普勒准则可以有效去除动态点，从而获得更一致的几何观测。即使在结构退化的环境中，FMCW-LIO最终也能实现准确的状态估计和静态建图。在多种场景中进行了大量实验，FMCW-LIO在准确性和鲁棒性方面均优于其他算法。
英文摘要：
Conventional LiDAR-inertial odometry (LIO) or simultaneous localization and mapping (SLAM) methods heavily rely on geometric features of environments, as LiDARs primarily provide range measurements instead of motion measurements. From now on, however, the situation changes thanks to the novel Frequency Modulated Continuous Wave (FMCW) Doppler LiDARs. FMCW Doppler LiDARs not only offer the point range with high resolution but also capture the instant point Doppler velocity through the Doppler effect. In the letter, we propose FMCW-LIO, a novel and robust LIO, leveraging intrinsic Doppler measurements from FMCW Doppler LiDARs. To correctly exploit Doppler velocities, a motion compensation method is designed, and a Doppler-aided observation model is applied for on-manifold state estimation. Then, dynamic points can be effectively removed by the Doppler criteria, deriving more consistent geometric observations. FMCW-LIO eventually achieves accurate state estimation and static mapping, even in structure-degenerated environments. Extensive experiments in diverse scenes are performed and FMCW-LIO outperforms other algorithms on both accuracy and robustness.
