| Paper Abstract and Keywords |
| Presentation |
2025-07-01 09:00
Implementation of LiDAR SLAM Based on the Probability Distribution of Point Clouds
Tatsuki Uchida, Munetoshi Iwakiri (NDA) |
| Abstract |
(in Japanese) |
(See Japanese page) |
| (in English) |
Simultaneous Localization and Mapping (SLAM) is an essential technology that enables robots to autonomously navigate unknown environments. Among the various SLAM approaches, those based on LiDAR (Light Detection and Ranging) have attracted significant attention for their ability to achieve high-precision self-localization and mapping in specific environments. In our previous work, we proposed a SLAM evaluation method that analyzes the temporal variation of six degrees of freedom in position and orientation, thereby revealing the limitations of existing SLAM methods. In this study, we present a novel SLAM method that addresses these limitations by incorporating the probabilistic distribution of LiDAR point clouds. The method is particularly designed to reduce SLAM degradation in environments, such as corridors and staircases. To validate the proposed approach, we conducted experiments using the SubT-MRS dataset, comparing the SLAM accuracy of the conventional Fast-LIO with that of an extended Fast-LIO that considers the probabilistic nature of point clouds. Experimental results indicate that, under certain evaluation metrics, the proposed method more effectively reduces SLAM degradation compared to the conventional approach. |
| Keyword |
(in Japanese) |
(See Japanese page) |
| (in English) |
Point-cloud / Feature Extraction / Localization / Mapping / Probability Distribution / / / |
| Reference Info. |
ITE Tech. Rep., vol. 49, pp. 35-38, June 2025. |
| Paper # |
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| Date of Issue |
2025-06-23 (AIT) |
| ISSN |
Online edition: ISSN 2424-1970 |
| Download PDF |
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| Conference Information |
| Committee |
IIEEJ AIT |
| Conference Date |
2025-06-30 - 2025-07-01 |
| Place (in Japanese) |
(See Japanese page) |
| Place (in English) |
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| Topics (in Japanese) |
(See Japanese page) |
| Topics (in English) |
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| Paper Information |
| Registration To |
IIEEJ |
| Conference Code |
2025-06-IIEEJ-AIT |
| Language |
Japanese |
| Title (in Japanese) |
(See Japanese page) |
| Sub Title (in Japanese) |
(See Japanese page) |
| Title (in English) |
Implementation of LiDAR SLAM Based on the Probability Distribution of Point Clouds |
| Sub Title (in English) |
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| Keyword(1) |
Point-cloud |
| Keyword(2) |
Feature Extraction |
| Keyword(3) |
Localization |
| Keyword(4) |
Mapping |
| Keyword(5) |
Probability Distribution |
| Keyword(6) |
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| Keyword(7) |
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| Keyword(8) |
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| 1st Author's Name |
Tatsuki Uchida |
| 1st Author's Affiliation |
National Defense Academy of Japan (NDA) |
| 2nd Author's Name |
Munetoshi Iwakiri |
| 2nd Author's Affiliation |
National Defense Academy of Japan (NDA) |
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| Speaker |
Author-1 |
| Date Time |
2025-07-01 09:00:00 |
| Presentation Time |
20 minutes |
| Registration for |
IIEEJ |
| Paper # |
AIT2025-176 |
| Volume (vol) |
vol.49 |
| Number (no) |
no.18 |
| Page |
pp.35-38 |
| #Pages |
4 |
| Date of Issue |
2025-06-23 (AIT) |