发表机构
University of Macau（澳门大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对激光雷达-惯性系统，提出无扫描、无运动、无对应的Free-Init初始化框架，融合多普勒速度与惯性测量，支持静止至剧烈运动，输出超10kHz，实验验证其高效性与韧性。
AI 中文摘要
鲁棒的初始化对于在线系统至关重要。本文针对激光雷达-惯性系统设计了一种高频且具有韧性的初始化框架，该框架同时利用惯性传感器和多普勒激光雷达。创新的FMCW多普勒激光雷达通过固有的多普勒效应，不仅捕获点距离，还捕获多普勒速度，为机器人感知开辟了新途径。通过将逐点多普勒速度与惯性测量在非惯性运动学下融合，所提出的框架Free-Init在初始化阶段消除了对激光雷达扫描运动畸变校正、激励运动以及地图对应关系的依赖。Free-Init还与典型的激光雷达-惯性系统即插即用兼容，并能灵活处理系统启动时的各种初始运动，包括静止、动态甚至剧烈运动。内置的多普勒-惯性测速仪确保了快速收敛和高频性能，输出超过10 kHz。在多种平台和众多运动场景下的综合实验验证了该框架的有效性。结果表明Free-Init具有优越性能，凸显了在线系统快速、韧性和动态初始化的必要性。
英文摘要
Robust initialization is crucial for online systems. In the letter, a high-frequency and resilient initialization framework is designed for LiDAR-inertial systems, leveraging both inertial sensors and Doppler LiDAR. The innovative FMCW Doppler LiDAR opens up a novel avenue for robotic sensing by capturing not only point range but also Doppler velocity via the intrinsic Doppler effect. By fusing point-wise Doppler velocity with inertial measurements under non-inertial kinematics, the proposed framework, Free-Init, eliminates reliance on motion undistortion of LiDAR scans, excitation motions, and map correspondences during the initialization phase. Free-Init is also plug-and-play compatible with typical LiDAR-inertial systems and is versatile to handle a wide range of initial motions when the system starts, including stationary, dynamic, and even violent motions. The embedded Doppler-inertial velocimeter ensures fast convergence and high-frequency performance, delivering outputs exceeding 10 kHz. Comprehensive experiments on diverse platforms and across myriad motion scenes validate the framework's effectiveness. The results demonstrate the superior performance of Free-Init, highlighting the necessity of fast, resilient, and dynamic initialization for online systems.
CommentsIEEE Robotics and Automation Letters (RA-L), 2024. Project Page: https://github.com/IMRL/Free-Init
Journal refM. Zhao et al., "Free-Init: Scan-Free, Motion-Free, and Correspondence-Free Initialization for Doppler LiDAR-Inertial Systems," in IEEE Robotics and Automation Letters, vol. 9, no. 12, pp. 11329-11336, Dec. 2024
