Intensity-based Feature Filtering for LiDAR-based SLAM

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
Shaofeng Zou, 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
Chuxiang Yu, School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan 430081, China

Abstract

Abstract: In order to solve the problem that an excessive influx of feature points into the point cloud registration phase can potentially lead to diminished algorithmic accuracy and suboptimal mapping outcomes, a novel laser SLAM algorithm predicated on the filtering of feature points through the utilization of intensity information is proposed. The intensity distribution near the feature points in the local map is calculated based on the point cloud intensity information, and each feature point within the local map is attributed an intensity distribution index. Through the application of an intensity threshold, feature points that exhibit substantial variations in intensity across successive frames are systematically removed. This process identifies and retains only valid feature points amenable for the registration of scanned frames with the local maps. A novel intensity-weighted cost function is proposed. This function aims to enhance the accuracy of the robot frame's pose estimation within the global map. The simulation results show that it achieves an average reduction of 13.8% in feature point count per scan frame, along with an average decrease of 18.8% in the number of feature points within the local map, enhances registration accuracy by 5.7%.

Recommended Citation

Li, Weigang; Zou, Shaofeng; Wang, Yongqiang; and Yu, Chuxiang (2025) "Intensity-based Feature Filtering for LiDAR-based SLAM," Journal of System Simulation: Vol. 37: Iss. 2, Article 7.
DOI: 10.16182/j.issn1004731x.joss.23-1166
Available at: https://dc-china-simulation.researchcommons.org/journal/vol37/iss2/7

First Page

392

Last Page

403

CLC

TP242

Recommended Citation

Li Weigang, Zou Shaofeng, Wang Yongqiang, et al. Intensity-based Feature Filtering for LiDAR-based SLAM[J]. Journal of System Simulation, 2025, 37(2): 392-403.

DOI

10.16182/j.issn1004731x.joss.23-1166