IEEE Robotics & Automation Magazine - June 2020 - 149
(a)
(b)
(c)
(d)
Figure 10. Comparison results of loop-closure and mapping tasks in airport terminal environments: (a) ORB-SLAM2, (b) LeGOLOAM, (c) our result, and (d) our final mapping result. Since we do not have a ground truth to evaluate the accuracy of the map, we
compare it only with the CAD drawing to qualitatively demonstrate the mapping performance.
sensor noises and cumulative errors cannot be avoided, so
estimating an accurate initial pose is very hard. The proposed deep learning-enhanced localization system is a big
step toward achieving robust localization and mapping performance in practical industrial applications.
In the proposed advanced perception system, a novel
joint calibration method was presented by introducing the
EPnP method. Compared with traditional methods, we do
not need a calibration board and can ensure accuracy in
whole large-scale environments. Based on this, a multisensor fusion-based object detection, tracking, and motion
estimation system is developed by successfully modifying
and integrating state-of-the-art deep learning-based perception networks. Several novel operations are designed
for achieving a robust performance in dynamic environments with varied illumination and weather conditions.
The proposed advanced perception system presents a
systematic and comprehensive solution for practical industrial applications.
Acknowledgments
This work was supported in part by the Natural Science
Foundation of China under grant U1613218, Hong Kong ITC
under grant ITS/448/16FP, Beijing Advanced Innovation
Center for Intelligent Robots and Systems under grant
2019IRS01, and the Shenzhen Science and Technology Innovation Commission via KQTD20140630150243062. The corresponding authors for this article are Hesheng Wang and
Yun-Hui Liu.
References
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vehicles and self-driving cars," IEEE Robot. Autom. Mag., vol. 25, no. 4,
pp. 106-112, 2018. doi: 10.1109/MRA.2018.2874301.
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