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A LiDAR SLAM system for dense forest mapping with iterated motion distortion correction
http://hdl.handle.net/2237/0002014033
http://hdl.handle.net/2237/0002014033c3124da1-d0e4-47d3-a43a-86a254e5effd
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
AR_IDLIO.pdf (2.3 MB)
Download is available from 2026/12/14.
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| アイテムタイプ | itemtype_ver1(1) | |||||||||||
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| 公開日 | 2026-03-02 | |||||||||||
| タイトル | ||||||||||||
| タイトル | A LiDAR SLAM system for dense forest mapping with iterated motion distortion correction | |||||||||||
| 言語 | en | |||||||||||
| 著者 |
Nakao, Takumi
× Nakao, Takumi
× Honda, Kohei
× Akai, Naoki
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| アクセス権 | ||||||||||||
| アクセス権 | embargoed access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_f1cf | |||||||||||
| 権利 | ||||||||||||
| 権利情報 | This is an Accepted Manuscript of an article published by Taylor & Francis Group in Advanced Robotics on 14/12/2025, available at: https://doi.org/10.1080/01691864.2025.2587838 | |||||||||||
| 言語 | en | |||||||||||
| 内容記述 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | This paper presents a LiDAR SLAM system leveraging LiDAR-Inertial Odometry (LIO) that incorporates iterative motion distortion correction. The majority of contemporary LIO techniques include motion distortion correction capabilities that can rectify LiDAR point cloud distortions caused by rapid movements, facilitated by IMU preintegration. Unlike these approaches, our method uniquely conducts the distortion correction in an iterative manner. This is crucial as IMU biases, which can affect the preintegration phase, are updated throughout the optimization process. Our approach systematically performs scan matching between LiDAR and local map point clouds, alongside motion distortion correction, while concurrently updating the IMU biases. Experimental validation on the Newer College Dataset demonstrates that our method surpasses existing state-of-the-art techniques, primarily due to our iterative correction strategy. Furthermore, we present a SLAM framework based on our LIO method, incorporating a novel point removal technique for mapping dense forest environments. We have created our own dataset for this purpose, and qualitative assessments confirm the superior mapping accuracy of our system. | |||||||||||
| 言語 | en | |||||||||||
| 内容記述 | ||||||||||||
| 内容記述タイプ | Other | |||||||||||
| 内容記述 | Published online: 14 Dec 2025 | |||||||||||
| 言語 | en | |||||||||||
| 出版者 | ||||||||||||
| 出版者 | Taylor & Francis | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプresource | http://purl.org/coar/resource_type/c_6501 | |||||||||||
| タイプ | journal article | |||||||||||
| 出版タイプ | ||||||||||||
| 出版タイプ | AM | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||
| 関連情報 | ||||||||||||
| 関連タイプ | isVersionOf | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | https://doi.org/10.1080/01691864.2025.2587838 | |||||||||||
| 収録物識別子 | ||||||||||||
| 収録物識別子タイプ | PISSN | |||||||||||
| 収録物識別子 | 0169-1864 | |||||||||||
| 書誌情報 |
en : Advanced Robotics 巻 40, 号 1, p. 1-9, 発行日 2026 |
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| ファイル公開日 | ||||||||||||
| 日付 | 2026-12-14 | |||||||||||
| 日付タイプ | Available | |||||||||||
