吉林大学学报（信息科学版）2025，Vol.43Issue(2)：220-230,11.
基于Lidar-Iris描述子改进的LOAM算法
Improved LOAM Algorithm Based on Lidar-Iris Descriptor
摘要
Abstract
To address the issues of motion distortion and error accumulation in SLAM(Simultaneous Localization and Mapping)systems during prolonged operations,a mapping method called IRIS-LOAM(Lidar-Iris Based Lidar Odometry and Mapping in Real-Time)is proposed,which leverages Lidar-Iris to construct global descriptors for loop closure detection.This algorithm has two major innovations based on the LOAM algorithm.First,in the data processing stage,it integrates lidar data with IMU(Inertial Measurement Unit)data and uses the IMU data to correct the point cloud data.Second,in the mapping optimization stage,it employs an information matrix-based graph optimization algorithm and utilizes Lidar-Iris global descriptors for loop closure detection of key frames.And it preprocesses the input point cloud to improve the time efficiency of optimization.Comparing the improved algorithm with A_LOAM through experiments,the results show that IRIS-LOAM achieves better mapping performance in various real-world scenarios,demonstrating its feasibility and practicality.关键词
同步定位与地图构建/激光雷达/回环检测Key words
simultaneous localization and mapping(SLAM)/lidar/loop closure detection分类
电子信息工程引用本文复制引用
毛彦博,邓荣荣,江锦艺,华子涵,陈庆华,玄玉波..基于Lidar-Iris描述子改进的LOAM算法[J].吉林大学学报（信息科学版）,2025,43(2):220-230,11.基金项目
国家级保密军工基金资助项目(2021X024J00060) （2021X024J00060）
