让外骨骼长期安全导航，能自动更新地图并适应环境变化。
LT-Exosense: A Vision-centric Multi-session Mapping System for Lifelong Safe Navigation of Exoskeletons
- 通过多时段视觉融合，持续构建和更新全局地图。
- 实测点对点误差低于5厘米，支持动态路径规划。
- 适合需要长期稳定导航的外骨骼使用者。
自平衡外骨骼为下肢残疾人士提供了有前景的移动解决方案。为实现可靠的长期运行，这些外骨骼需要在变化环境中仍具备有效的感知能力。本文提出LT-Exosense，一种以视觉为中心的多时段映射系统，旨在支持外骨骼用户的长期（半）自主导航。该系统通过跨多时段增量式融合空间知识，检测环境变化，并更新持久化全局地图。该表示支持智能路径规划，可适应新出现的障碍物，并在障碍移除后恢复原有路径。我们在真实场景中验证了LT-Exosense，结果显示其生成的可扩展多时段地图，在与地面真值激光扫描对比时，平均点对点误差低于5厘米。同时展示了自适应路径规划在动态室内环境中的应用潜力。
原文摘要 · Abstract (English)
Self-balancing exoskeletons offer a promising mobility solution for individuals with lower-limb disabilities. For reliable long-term operation, these exoskeletons require a perception system that is effective in changing environments. In this work, we introduce LT-Exosense, a vision-centric, multi-session mapping system designed to support long-term (semi)-autonomous navigation for exoskeleton users. LT-Exosense extends single-session mapping capabilities by incrementally fusing spatial knowledge across multiple sessions, detecting environmental changes, and updating a persistent global map. This representation enables intelligent path planning, which can adapt to newly observed obstacles and can recover previous routes when obstructions are removed. We validate LT-Exosense through several real-world experiments, demonstrating a scalable multi-session map that achieves an average point-to-point error below 5 cm when compared to ground-truth laser scans. We also illustrate the potential application of adaptive path planning in dynamically changing indoor environments.
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