A Laser-Based SLAM Algorithm of the Unmanned Surface Vehicle for Accurate Localization and Mapping in an Inland Waterway Scenario
It is important to improve the localization accuracy of the unmanned surface vehicle (USV) for ensuring safe navigation in an inland waterway scenario. However, the localization accuracy of the USV is affected by the limited availability of global navigation satellite system signals, the sparsity of...
Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-12-01
|
| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/12/12/2311 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850242093608337408 |
|---|---|
| author | Yang Wang Chao Liu Jiahe Liu Jinzhe Wang Jianbin Liu Kai Zheng Rencheng Zheng |
| author_facet | Yang Wang Chao Liu Jiahe Liu Jinzhe Wang Jianbin Liu Kai Zheng Rencheng Zheng |
| author_sort | Yang Wang |
| collection | DOAJ |
| description | It is important to improve the localization accuracy of the unmanned surface vehicle (USV) for ensuring safe navigation in an inland waterway scenario. However, the localization accuracy of the USV is affected by the limited availability of global navigation satellite system signals, the sparsity of feature points, and the high scene similarity in inland waterway scenarios. Therefore, this paper proposes a laser-based simultaneous localization and mapping (SLAM) algorithm for accurate localization and mapping in inland waterway scenarios. Inertial measurement unit (IMU) data are integrated with lidar data to address motion distortion caused by the frequent motion of the USV. Subsequently, a generalized iterative closest point (GICP) algorithm incorporating rejection sampling is integrated to enhance the accuracy of point cloud matching, involving a two-phase filtering process to select key feature points for matching. Additionally, a mixed global descriptor is constructed by combining point cloud intensity and distance information to improve the accuracy of loop closure detection. Experiments are conducted on the USV-Inland datasets to evaluate the performance of the proposed algorithm. The experimental results show that the proposed algorithm generates accurate mapping and significantly improves localization accuracy by 25.6%, 18.5%, and 23.6% compared to A-LOAM, LeGO-LOAM, and ISC-LOAM, respectively. These results demonstrate that the proposed algorithm achieves accurate localization and mapping in an inland waterway scenario. |
| format | Article |
| id | doaj-art-3b10ebc73b38465fbbfeee38df61f794 |
| institution | OA Journals |
| issn | 2077-1312 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-3b10ebc73b38465fbbfeee38df61f7942025-08-20T02:00:23ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-12-011212231110.3390/jmse12122311A Laser-Based SLAM Algorithm of the Unmanned Surface Vehicle for Accurate Localization and Mapping in an Inland Waterway ScenarioYang Wang0Chao Liu1Jiahe Liu2Jinzhe Wang3Jianbin Liu4Kai Zheng5Rencheng Zheng6School of Mechanical Engineering, Tianjin University, Tianjin 300354, ChinaSchool of Mechanical Engineering, Tianjin University, Tianjin 300354, ChinaSchool of Mechanical Engineering, Tianjin University, Tianjin 300354, ChinaSchool of Mechanical Engineering, Tianjin University, Tianjin 300354, ChinaSchool of Mechanical Engineering, Tianjin University, Tianjin 300354, ChinaSchool of Marine Electrical Engineering, Dalian Maritime University, Dalian 116086, ChinaSchool of Mechanical Engineering, Tianjin University, Tianjin 300354, ChinaIt is important to improve the localization accuracy of the unmanned surface vehicle (USV) for ensuring safe navigation in an inland waterway scenario. However, the localization accuracy of the USV is affected by the limited availability of global navigation satellite system signals, the sparsity of feature points, and the high scene similarity in inland waterway scenarios. Therefore, this paper proposes a laser-based simultaneous localization and mapping (SLAM) algorithm for accurate localization and mapping in inland waterway scenarios. Inertial measurement unit (IMU) data are integrated with lidar data to address motion distortion caused by the frequent motion of the USV. Subsequently, a generalized iterative closest point (GICP) algorithm incorporating rejection sampling is integrated to enhance the accuracy of point cloud matching, involving a two-phase filtering process to select key feature points for matching. Additionally, a mixed global descriptor is constructed by combining point cloud intensity and distance information to improve the accuracy of loop closure detection. Experiments are conducted on the USV-Inland datasets to evaluate the performance of the proposed algorithm. The experimental results show that the proposed algorithm generates accurate mapping and significantly improves localization accuracy by 25.6%, 18.5%, and 23.6% compared to A-LOAM, LeGO-LOAM, and ISC-LOAM, respectively. These results demonstrate that the proposed algorithm achieves accurate localization and mapping in an inland waterway scenario.https://www.mdpi.com/2077-1312/12/12/2311unmanned surface vehicleinland waterwaylaser-based SLAMrejection samplingloop closure detectionmixed global descriptor |
| spellingShingle | Yang Wang Chao Liu Jiahe Liu Jinzhe Wang Jianbin Liu Kai Zheng Rencheng Zheng A Laser-Based SLAM Algorithm of the Unmanned Surface Vehicle for Accurate Localization and Mapping in an Inland Waterway Scenario Journal of Marine Science and Engineering unmanned surface vehicle inland waterway laser-based SLAM rejection sampling loop closure detection mixed global descriptor |
| title | A Laser-Based SLAM Algorithm of the Unmanned Surface Vehicle for Accurate Localization and Mapping in an Inland Waterway Scenario |
| title_full | A Laser-Based SLAM Algorithm of the Unmanned Surface Vehicle for Accurate Localization and Mapping in an Inland Waterway Scenario |
| title_fullStr | A Laser-Based SLAM Algorithm of the Unmanned Surface Vehicle for Accurate Localization and Mapping in an Inland Waterway Scenario |
| title_full_unstemmed | A Laser-Based SLAM Algorithm of the Unmanned Surface Vehicle for Accurate Localization and Mapping in an Inland Waterway Scenario |
| title_short | A Laser-Based SLAM Algorithm of the Unmanned Surface Vehicle for Accurate Localization and Mapping in an Inland Waterway Scenario |
| title_sort | laser based slam algorithm of the unmanned surface vehicle for accurate localization and mapping in an inland waterway scenario |
| topic | unmanned surface vehicle inland waterway laser-based SLAM rejection sampling loop closure detection mixed global descriptor |
| url | https://www.mdpi.com/2077-1312/12/12/2311 |
| work_keys_str_mv | AT yangwang alaserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT chaoliu alaserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT jiaheliu alaserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT jinzhewang alaserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT jianbinliu alaserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT kaizheng alaserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT renchengzheng alaserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT yangwang laserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT chaoliu laserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT jiaheliu laserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT jinzhewang laserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT jianbinliu laserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT kaizheng laserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario AT renchengzheng laserbasedslamalgorithmoftheunmannedsurfacevehicleforaccuratelocalizationandmappinginaninlandwaterwayscenario |