Dual LIDAR online calibration and mapping and perception system

Making autonomous mobile devices capable of autonomous positioning and map building in a GPS-denied environment as well as being able to circumvent people in the operating area simultaneously, is essential for many UGV appliances. In this paper, a mapping and positioning system using dual LIDAR is proposed for positioning and building maps. The system may also detect people in the operating space of the equipment using infrared heat maps. The localization and mapping information from each LIDAR is unified in a loosely coupled approach after simultaneous extrinsic calibration. We propose a method for constructing factor graph using LIDAR point cloud geometric features to optimally solve the dual LIDAR extrinsic in real time. We tested the localization accuracy with a publicly available dataset and three real-world scenarios and compared it with three existing methods. The test results in open-source datasets and real scenarios show that our proposed method improves the position and attitude estimation by up to 50% compared to the three existing methods, and the proposed dual LIDAR extrinsic calibration method can achieve an estimation accuracy of 0.05 m for the translational extrinsic and 1deg for the rotational extrinsic. In addition, our proposed method achieves well position and attitude estimation when other existing methods show severe drift in trajectory estimation in real scenarios. Thus, our proposed method is suitable for obtaining high accuracy measurements of LIDAR extrinsic parameters and for dense mapping and accurate localization in the environment of GNSS-denied and human mobility.