Dynamic Scene Point Cloud Mapping Method Based on LiDAR-IMU

Authors

Weigang Li, Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan 430081, China
Lei Gan, School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan 430081, China
Yongqiang Wang, School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan 430081, China

Abstract

Abstract: In order to address the issue of decreased mapping accuracy and precision caused by dynamic object interference during the construction of point cloud maps in dynamic scenarios such as urban roads, this study proposes a method for building dynamic scene point cloud maps based on LiDAR and inertial measurement unit (IMU). The method incorporates several key steps. An index-based Octree voxel structure is utilized to enhance the incremental update and nearest neighbor search efficiency of the local perception map (LP-Map). The point cloud is processed using ground segmentation, clustering, and dynamic score calculation methods to enable real-time identification of dynamic target point clouds. The region growing method is employed to remove the trajectories of dynamic objects in the LP-Map. Experimental results demonstrate that the proposed algorithm effectively identifies and removes dynamic targets at the mapping level while exhibiting exceptional computational speed and real-time performance. This approach provides a reliable solution for real-time construction of accurate point cloud maps in dynamic scenarios.

Recommended Citation

Li, Weigang; Gan, Lei; and Wang, Yongqiang (2025) "Dynamic Scene Point Cloud Mapping Method Based on LiDAR-IMU," Journal of System Simulation: Vol. 37: Iss. 1, Article 8.
DOI: 10.16182/j.issn1004731x.joss.23-1078
Available at: https://dc-china-simulation.researchcommons.org/journal/vol37/iss1/8

First Page

95

Last Page

106

CLC

TP 242; TP391.9

Recommended Citation

Li Weigang, Gan Lei, Wang Yongqiang. Dynamic Scene Point Cloud Mapping Method Based on LiDAR-IMU[J]. Journal of System Simulation, 2025, 37(1): 95-106.

DOI

10.16182/j.issn1004731x.joss.23-1078