Enhancing Solid State LiDAR Mapping with a 2D Spinning LiDAR in Urban Scenario SLAM on Ground Vehicles

Solid-State LiDAR (SSL) takes an increasing share of the LiDAR market. Compared with traditional spinning LiDAR, SSLs are more compact, energy-efficient and cost-effective. Generally, the current study of SSL mapping is limited to adapting existing SLAM algorithms to an SSL sensor. However, compared with spinning LiDARs, SSLs are different in terms of their irregular scan patterns and limited FOV. Directly applying existing SLAM approaches on them often increase the instability of a mapping process. This study proposes a systematic design, which consists of a dual-LiDAR mapping system and a three DOF interpolated six DOF odometry. For dual-LiDAR mapping, this work uses a 2D LiDAR to enhance a 3D SSL performance on a ground vehicle platform. The proposed system takes a 2D LiDAR to preprocess the scanning field into a number of feature sections according to the curvatures on the 2D fraction. Subsequently, this section information is passed to 3D SSL for direction feature selection. Additionally, this work proposes an odometry interpolation method which uses both LiDARs to generate two separated odometries. The proposed odometry interpolation method selectively determines the appropriate odometry information to update the system state under challenging conditions. Experiments are conducted in different scenarios. The results proves that the proposed approach is able to utilise 12 times more corner features from the environment than the comparied method, thus results in a demonstrable improvement in its absolute position error.