Loosely coupled LiDAR-Visual/Thermal-Inertial Odometry and Mapping
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Authors
Khedekar, Nikhil Vijay
Issue Date
2020
Type
Thesis
Language
Keywords
Alternative Title
Abstract
This thesis presents a loosely coupled LiDAR-Visual/Thermal-Inertial odometry and mapping method that uses factor graphs. Our approach jointly optimizes relative pose constraints provided by a LiDAR scan-to-scan alignment method and a Visual/Thermal-Inertial method with preintegrated IMU constraints. An optimized relative pose prior is provided to a LiDAR scan-to-map alignment method to finally output the odometry of the system as well as globally registered pointclouds. A set of evaluation studies is presented showing the outperformance of our approach against the LiDAR only odometry and mapping method in a tunnel environment and the field-verification in an autonomous mission in an underground mine.