Reproduce “Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV” on OpenResearch
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About this paper
Jiarong Lin, Fu Zhang
Loam Livox is a LiDAR odometry and mapping (LOAM) package engineered for solid-state LiDARs with small fields of view and irregular scanning patterns, providing real-time, high-precision localization and mapping. The system achieves distance errors of 0.41% and 0.65% and an average Euler angle error of 1.1 degrees, while running 2-3 times faster than a baseline.
Key insights
- Filtering unreliable LiDAR points based on low-level physical properties (e.g., FoV fringes, extreme intensity, grazing incident angles) is crucial for improving feature reliability from irregular scans.
- Dividing a single LiDAR frame into sequential sub-frames for "piecewise processing" effectively reduces the impact of in-frame motion blur and enables efficient parallel computation.
- Leveraging LiDAR reflectivity as an additional feature dimension helps robustly identify geometric features in environments with sparse point clouds or limited structural diversity.
Summary by alphaXiv.
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