首页|Investigators from Guangdong University of Technology Target Robotics (Leg-kilo: Robust Kinematic-inertial-lidar Odometry for Dynamic Legged Robots)
Investigators from Guangdong University of Technology Target Robotics (Leg-kilo: Robust Kinematic-inertial-lidar Odometry for Dynamic Legged Robots)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-New research on Robotics is the subjec t of a report. According to news originating from Guangzhou, People's Republic o f China, by NewsRx correspondents, research stated, "This letter presents a robu st multi-sensor fusion framework, Leg-KILO (Kinematic-Inertial-Lidar Odometry). When lidar-based SLAM is applied to legged robots, high-dynamic motion (e.g., tr ot gait) introduces frequent foot impacts, leading to IMU degradation and lidar motion distortion." Financial support for this research came from Guangdong Basic and Applied Basic Research Foundation. Our news journalists obtained a quote from the research from the Guangdong Unive rsity of Technology, "Direct use of IMU measurements can cause significant drift,especially in the z-axis direction. To address these limitations, we tightly c ouple leg odometry, lidar odometry, and loop closure module based on graph optim ization. For leg odometry, we propose a kinematic-inertial odometry using an on- manifold error-state Kalman filter, which incorporates the constraints from our proposed contact height detection to reduce height fluctuations. For lidar odome try, we present an adaptive scan slicing and splicing method to alleviate the ef fects of high-dynamic motion. We further propose a robot-centric incremental map ping system that enhances map maintenance efficiency. Extensive experiments are conducted in both indoor and outdoor environments, showing that Leg-KILO has low er drift performance compared to other state-of-the-art lidar-based methods, esp ecially during high-dynamic motion."
GuangzhouPeople's Republic of ChinaA siaEmerging TechnologiesMachine LearningNano-robotRobotRoboticsGuang dong University of Technology
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