In this work, we propose a lightweight integrated LiDAR-Inertial SLAM system with high efficiency and a great loop closure capacity. We found that the current State-of-the-art LiDAR-Inertial SLAM system has poor performance in loop closure. The LiDAR-Inertial SLAM system often fails with the large drifting and suffers from limited efficiency when faced with large-scale circumstances. In this work, firstly, to improve the speed of the whole LiDAR-Inertial SLAM system, we have proposed a new data structure of the sparse voxel-hashing to enhance the efficiency of the LiDAR-Inertial SLAM system. Secondly, to improve the point cloud-based localization performance, we have integrated the loop closure algorithms to improve the localization performance. Extensive experiments on the real-scene large-scale complicated circumstances demonstrate the great effectiveness and robustness of the proposed LiDAR-Inertial SLAM system.

翻译：在这项工作中,我们建议建立一个效率高、循环关闭能力强的轻量级综合LIDAR-Inertial SLM系统,我们发现目前的先进LIDAR-Inertial SLM系统在环封闭方面表现不佳。LIDAR-Inertial SLM系统往往因大规模漂移而失败,在面临大规模环境时效率有限。首先,为了提高整个LIDAR-Inertial SLAM系统的速度,我们提出了稀疏的Voxel-shashing系统的新数据结构,以提高LIDAR-Inertial SLAM系统的效率。第二,为了提高点基云化性工作,我们综合了环封闭算法,以改进本地化工作。关于实际大范围复杂环境的广泛实验表明拟议的LIDAR-Intertial SLAM系统非常有效和有力。