Tightly-Coupled LiDAR-IMU-Wheel Odometry with an Online Neural Kinematic Model Learning via Factor Graph Optimization

Environments lacking geometric features (e.g., tunnels and long straight corridors) are challenging for LiDAR-based odometry algorithms because LiDAR point clouds degenerate in such environments. For wheeled robots, a wheel kinematic model (i.e., wheel odometry) can improve the reliability of the od...

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Veröffentlicht in:	arXiv.org 2024-07
Hauptverfasser:	Okawara, Taku, Koide, Kenji, Oishi, Shuji, Yokozuka, Masashi, Banno, Atsuhiko, Uno, Kentaro, Yoshida, Kazuya
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Changing environments Degeneration Errors Kinematics Lidar Machine learning Movement Neural networks Nonlinearity Online instruction Robots Skid steering Skidding Terrain
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