农业工程学报2026，Vol.42Issue(5)：214-222,9.DOI:10.11975/j.issn.1002-6819.202509036
语义信息辅助的LiDAR-IMU融合定位方法
Semantic information-assisted LiDAR-IMU fusion localization method
摘要
Abstract
Agricultural environments are generally characterized by weak geometric saliency,repetitive vegetation structures,and frequent dynamic disturbances.The conventional simultaneous localization and mapping can rely primarily on geometric feature matching.It is often required for stable data and reliable residual estimation under such conditions.The accuracy of the pose can also be improved to avoid the accumulated localization drift.In this study,a tightly coupled LiDAR-IMU SLAM framework was introduced with the semantic information,in order to improve the localization accuracy and robustness in agricultural robots.As such,the feature optimization was guided by the category-dependent reliability rather than the geometry alone.LiDAR point clouds and inertial measurement unit data were jointly utilized in the framework.Raw LiDAR scans were first processed by the motion distortion correction and outlier removal,in order to mitigate the sensor motion and noise.Subsequently,a semantic segmentation network(RangeNet++)was employed to assign the semantic labels to each point,thereby generating annotated point clouds.A semantic-aware downsampling strategy was adopted to balance the computational efficiency and semantic preservation.Among them,the different semantic categories were sampled with various densities,according to their spatial distribution and pose estimation.The curvature edge and planar features were extracted and then associated between consecutive frames during LiDAR odometry estimation.Semantic information was explicitly embedded into the optimization to assign the category-specific weights to residual terms.Moreover,a dynamic semantic weighting mechanism was introduced with the historical residual statistics.Residuals accumulation within a sliding window was statistically analyzed to adaptively update the semantic weights,so that the categories with the larger residuals were down-weighted,while the categories with stable matching behavior were reinforced after optimization.LiDAR odometry and IMU pre-integration constraints were jointly formulated on the back end within a factor-graph framework.Keyframes were then selected according to translational and rotational motion thresholds.All constraints were optimized using nonlinear least-squares optimization.Extensive experiments were carried out on both public benchmark datasets and self-collected agricultural datasets,in order to verify the effectiveness of the framework.The KITTI benchmark,referred to as LID-SLAM,was evaluated on Sequences 05,07,and 10,and then compared with the LIS-SLAM,LIO-SAM,and LeGO-LOAM,where the loop closure was disabled for the fair comparison.On Sequence 05,the influence of the unreliable semantic categories was effectively suppressed,which contained the frequent turns,occlusions,and dynamic traffic participants.As a result,a mean absolute trajectory error of 2.484 m and a root mean square error(RMSE)of 2.884 m were achieved,outperforming LIO-SAM(mean 2.886 m,RMSE 3.410 m)and significantly surpassing LeGO-LOAM(mean 9.369 m,RMSE 10.091 m).On Sequence 07,the stable performance was maintained to represent a relatively static and open environment,with a mean error of 0.694 m and an RMSE of 0.821 m,which were comparable to those of LIO-SAM and markedly better than those of LIS-SLAM and LeGO-LOAM.On the more challenging Sequence 10,the peak and long-tail errors were substantially reduced,which involved the complex dynamics and higher motion speeds.The maximum error was lowered to 3.766 m,and the RMSE was reduced to 1.391 m,compared with the 2.224 m for LIO-SAM and 7.923 m for LeGO-LOAM.Ablation experiments were further conducted to assess the contribution of the dynamic semantic weighting mechanism.Once the dynamic weighting module was removed,the larger local deviations and increased error fluctuations were observed,although the overall trajectory shape was preserved.In contrast,the dynamic semantic weights reduced the maximum error by approximately 20％and RMSE by up to 14.9％on the representative sequences.The trajectories were consistently produced to closely align with the ground truth on the agricultural dataset,which featured dense vegetation,mixed terrain,and narrow roads.There was no obvious drift or trajectory break even after long straight motions followed by sharp turns.Quantitatively,the RMSE was reduced to 0.084 m,compared with 0.102 m for LIO-SAM and 0.205 m for A-LOAM,which was relatively reduced by 17.65％and 59.02％,respectively.In conclusion,a semantic-assisted,LiDAR-IMU tightly coupled SLAM framework was presented to combine the semantic-aware downsampling,category-weighted residual modeling,and residual-feedback-driven dynamic semantic weight adaptation within a factor-graph optimization backend.The reliability of the data association was improved to effectively suppress the error accumulation in the weak-geometry and dynamic environments.Experimental results on the benchmark and real-world agricultural datasets demonstrated that the localization accuracy and robustness were significantly improved.The finding can also provide a practical and effective solution for the high-precision autonomous navigation of agricultural robots.关键词
多传感器融合/定位/因子图优化/IMU预积分/语义信息Key words
multi-sensor fusion/localization/factor graph optimization/IMU pre-integration/semantic information分类
信息技术与安全科学引用本文复制引用
曹欣源,寇志伟,崔啸鸣,李娜,齐咏生..语义信息辅助的LiDAR-IMU融合定位方法[J].农业工程学报,2026,42(5):214-222,9.基金项目
内蒙古自治区科技计划项目(2021GG0256) （2021GG0256）
内蒙古自治区自然科学基金项目(2024LHMS06023) （2024LHMS06023）
内蒙古自治区首批英才兴蒙工程团队项目 （）
