Visual-LiDAR Odometry and Mapping with Monocular Scale Correction and Visual Bootstrapping

TL;DR

This paper introduces a visual-LiDAR odometry and mapping system that combines ORB-SLAM and A-LOAM with monocular scale correction and visual bootstrapping, achieving low drift and high accuracy on standard datasets.

Contribution

It proposes a novel integration of visual and LiDAR data with scale correction and initialization techniques, improving robustness and accuracy over existing methods.

Findings

Outperforms standalone ORB-SLAM2 and A-LOAM in accuracy.

Achieves stereo-mode ORB-SLAM2 accuracy with monocular setup.

Effective on both high-resolution and low-resolution LiDARs.

Abstract

This paper presents a novel visual-LiDAR odometry and mapping method with low-drift characteristics. The proposed method is based on two popular approaches, ORB-SLAM and A-LOAM, with monocular scale correction and visual-bootstrapped LiDAR poses initialization modifications. The scale corrector calculates the proportion between the depth of image keypoints recovered by triangulation and that provided by LiDAR, using an outlier rejection process for accuracy improvement. Concerning LiDAR poses initialization, the visual odometry approach gives the initial guesses of LiDAR motions for better performance. This methodology is not only applicable to high-resolution LiDAR but can also adapt to low-resolution LiDAR. To evaluate the proposed SLAM system's robustness and accuracy, we conducted experiments on the KITTI Odometry and S3E datasets. Experimental results illustrate that our method significantly outperforms standalone ORB-SLAM2 and A-LOAM. Furthermore, regarding the accuracy of visual odometry with scale correction, our method performs similarly to the stereo-mode ORB-SLAM2.