LiDAR‐based robust localization for field autonomous vehicles in off‐road environments

• DOI: 10.1002/rob.22031
• Publication Date: 2021-06-28T19:04:49Z
• Authors: Ruike Ren; Hao Fu; Hanzhang Xue; Xiaohui Li; Xiaochang Hu; Meiping Wu
• Keywords: Degeneracy (biology); Robustness; Navigation System

Abstract Robust localization is an essential capability for autonomous land vehicles. While a lot of work focused on structured environments, this article focuses navigation in off‐road environments. In the environment, due to lack salient features, scan matching algorithms tend degenerate. Therefore, first contribution paper propose reliable degeneracy indicator which can evaluate performance. The evaluated then integrated into factor graph optimization framework used both offline mapping system and online system. Moreover, complete that handle incomplete partly outdated LiDAR maps developed. Extensive tests real‐world data sets show proposed outperforms state‐of‐the‐art approaches, especially degenerate scenarios.