# LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time

arXiv: https://arxiv.org/abs/2012.14447 · HTML: https://mlsanity.com/paper/2012.14447/

## Key facts

- Cited by 16 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Dec 2020.

## Built on by (most cited first, 16 of 16)

- [RGBD GS-ICP SLAM](https://mlsanity.com/paper/2403.12550/) (2024)
- [NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge](https://mlsanity.com/paper/2103.11470/) (2021)
- [MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square](https://mlsanity.com/paper/2102.03771/) (2021)
- [STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation](https://mlsanity.com/paper/2103.02828/) (2021)
- [VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots](https://mlsanity.com/paper/2107.07243/) (2021)
- [DeepMapping2: Self-Supervised Large-Scale LiDAR Map Optimization](https://mlsanity.com/paper/2212.06331/) (2022)
- [Multiway Point Cloud Mosaicking with Diffusion and Global Optimization](https://mlsanity.com/paper/2404.00429/) (2024)
- [Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems](https://mlsanity.com/paper/2109.12343/) (2021)
- [DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments](https://mlsanity.com/paper/2102.05117/) (2021)
- [UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT](https://mlsanity.com/paper/2206.08185/) (2022)
- [Autonomous Driving in Unstructured Environments: How Far Have We Come?](https://mlsanity.com/paper/2410.07701/) (2024)
- [Edge Robotics: Edge-Computing-Accelerated Multi-Robot Simultaneous Localization and Mapping](https://mlsanity.com/paper/2112.13222/) (2021)
- [What's in My LiDAR Odometry Toolbox?](https://mlsanity.com/paper/2103.09708/) (2021)
- [FRAME: A Modular Framework for Autonomous Map Merging: Advancements in the Field](https://mlsanity.com/paper/2404.18006/) (2024)
- [Event Camera and LiDAR based Human Tracking for Adverse Lighting Conditions in Subterranean Environments](https://mlsanity.com/paper/2304.08908/) (2023)
- [Traj-LIO: A Resilient Multi-LiDAR Multi-IMU State Estimator Through Sparse Gaussian Process](https://mlsanity.com/paper/2402.09189/) (2024)

## Abstract (arXiv)

A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time operation under challenging perceptual conditions. LOCUS (Lidar Odometry for Consistent operation in Uncertain Settings), provides an accurate multi-stage scan matching unit equipped with an health-aware sensor integration module for seamless fusion of additional sensing modalities. We evaluate the performance of the proposed system against state-of-the-art techniques in perceptually challenging environments, and demonstrate top-class localization accuracy along with substantial improvements in robustness to sensor failures. We then demonstrate real-time performance of LOCUS on various types of robotic mobility platforms involved in the autonomous exploration of the Satsop power plant in Elma, WA where the proposed system was a key element of the CoSTAR team's solution that won first place in the Urban Circuit of the DARPA Subterranean Challenge.