OL-SLAM：一个强大而通用的目标定位和 SLAM 系统。

OL-SLAM: A Robust and Versatile System of Object Localization and SLAM.

机构信息

Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou 310027, China.

Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory, Beijing 100191, China.

出版信息

Sensors (Basel). 2023 Jan 10;23(2):801. doi: 10.3390/s23020801.

DOI:10.3390/s23020801

PMID:36679599

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9865310/

Abstract

This paper proposes a real-time, versatile Simultaneous Localization and Mapping (SLAM) and object localization system, which fuses measurements from LiDAR, camera, Inertial Measurement Unit (IMU), and Global Positioning System (GPS). Our system can locate itself in an unknown environment and build a scene map based on which we can also track and obtain the global location of objects of interest. Precisely, our SLAM subsystem consists of the following four parts: LiDAR-inertial odometry, Visual-inertial odometry, GPS-inertial odometry, and global pose graph optimization. The target-tracking and positioning subsystem is developed based on YOLOv4. Benefiting from the use of GPS sensor in the SLAM system, we can obtain the global positioning information of the target; therefore, it can be highly useful in military operations, rescue and disaster relief, and other scenarios.

摘要

本文提出了一种实时、通用的同时定位与建图（SLAM）和目标定位系统，该系统融合了来自激光雷达、相机、惯性测量单元（IMU）和全球定位系统（GPS）的测量数据。我们的系统可以在未知环境中定位自身，并基于该环境构建场景地图，我们还可以跟踪和获取感兴趣目标的全局位置。具体来说，我们的 SLAM 子系统由以下四个部分组成：激光雷达惯性里程计、视觉惯性里程计、GPS-惯性里程计和全局姿态图优化。目标跟踪和定位子系统是基于 YOLOv4 开发的。得益于 SLAM 系统中 GPS 传感器的使用，我们可以获得目标的全局定位信息；因此，它在军事行动、救援和灾难救援等场景中非常有用。