Computer Science > Robotics
arXiv:2408.07330 (cs)
[Submitted on 14 Aug 2024 (v1), last revised 2 Oct 2024 (this version, v3)]
Title:Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition
View a PDF of the paper titled Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition, by Hogyun Kim and 4 other authors
View PDFHTML (experimental)Abstract:We often encounter limited FOV situations due to various factors such as sensor fusion or sensor mount in real-world robot navigation. However, the limited FOV interrupts the generation of descriptions and impacts place recognition adversely. Therefore, we suffer from correcting accumulated drift errors in a consistent map using LiDAR-based place recognition with limited FOV. Thus, in this paper, we propose a robust LiDAR-based place recognition method for handling narrow FOV scenarios. The proposed method establishes spatial organization based on the range-elevation bin and azimuth-elevation bin to represent places. In addition, we achieve a robust place description through reweighting based on vertical direction information. Based on these representations, our method enables addressing rotational changes and determining the initial heading. Additionally, we designed a lightweight and fast approach for the robot's onboard autonomy. For rigorous validation, the proposed method was tested across various LiDAR place recognition scenarios (i.e., single-session, multi-session, and multi-robot scenarios). To the best of our knowledge, we report the first method to cope with the restricted FOV. Our place description and SLAM codes will be released. Also, the supplementary materials of our descriptor are available at \texttt{\url{this https URL}}.
| Comments: | Accepted in IEEE Robotics and Automation Letters (2024) |
| Subjects: | Robotics (cs.RO) |
| Cite as: | arXiv:2408.07330 [cs.RO] |
| (orarXiv:2408.07330v3 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2408.07330 arXiv-issued DOI via DataCite | |
| Related DOI: | https://doi.org/10.1109/LRA.2024.3440089 DOI(s) linking to related resources |
Submission history
From: Hogyun Kim [view email][v1] Wed, 14 Aug 2024 07:13:28 UTC (8,670 KB)
[v2] Mon, 26 Aug 2024 19:28:13 UTC (8,727 KB)
[v3] Wed, 2 Oct 2024 08:25:08 UTC (8,727 KB)
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View a PDF of the paper titled Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition, by Hogyun Kim and 4 other authors
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