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

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