7 Jan 2025

Exploring Lidar Odometry Within the Robot Operating System

Abstract: Here, we explore various lidar odometry approaches (with both 3 and 6 degrees of freedom) in simulation. We modified a virtual model of a TurtleBot3 robot to work with the various odometry approaches and evaluated each method within a gazebo simulation. The gazebo model was configured to generate an absolute ground truth for comparison to the odometry results. We used the evo package to compare the ground truth with the various lidar odometry values. The results for KISS-ICP and laser scan matcher (LSM), including two simultaneous localization and map-ping (SLAM) approaches, Fast Lidar-Inertial Odometry (FAST-LIO), and Direct Lidar Odometry (DLO), are provided and discussed. We also tested one of the approaches on our physical robot.

11 Sep 2024

Terrestrial Vision-Based Localization Using Synthetic Horizons

Abstract: Vision-based localization could improve navigation and routing solutions in GPS-denied environments. In this study, data from a Carnegie Robotics MultiSense S7 stereo camera were matched to a synthetic horizon derived from foundation sources using novel two-dimensional correlation techniques. Testing was conducted at multiple observation locations over known ground control points (GCPs) at the US Army Engineer Research and Development Center (ERDC), Geospatial Research Laboratory (GRL), Corbin Research Facility. Testing was conducted at several different observational azimuths for these locations to account for the many possible viewing angles in a scene. Multiple observational azimuths were also tested together to see how the amount of viewing angles affected results. These initial tests were conducted to help future efforts testing the S7 camera under more realistic conditions, in different environments, and while expanding the collection and processing methodologies to additional sensor systems.