Exploring lidar odometry within the robot operating system

http://dx.doi.org/10.21079/11681/49523

Authors

Walls, Andrew, Ellison, Charles C., Bunkley, Steven L., Dodd, Brandon M., Naser, Amir, Charter, Dylan, Delatorre, Maribel, Lee, Jin-Kyu, Glaspell, Garry P., and Soylemezoglu, Ahmet

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.