Zerolag tracking of GrandSLAM


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Zerolag tracking is a key feature of Kudan’s GrandSLAM technology. This article introduces a summary of the feature.


What is Zerolag tracking

  • – Generally, automotive-grade LiDARs work at 5 to 20Hz. For automotive use cases, sensors can travel 1 to 5m over each scanning

  • – This 1 to 5m can cause many issues, especially in some cases which require highly accurate localisation and mapping

  • – Using Kudan’s GrandSLAM, the system can correct and update the position of the sensor with the frequency of fused IMU which can generally run-up to the order of tens kHz, and compress the latency of position recognition less than ten micro sec

  • – This enables system output with practically zero lag for vehicle localisation and minimizes the real-time tracking accuracy into less than several cms


Benefits of Zerolag tracking

  • – Vehicle/ robot localisation can work even the sensors move with high speed and quick turns. This can contribute to highly accurate and real-time localisation for automotive, drones, aircrafts

  • – The algorithm can save processing consumption with keeping the output frequency and latency, which enables the algorithms working on lower graded processors and/ or providing more processing power for other algorithms (e.g., object recognition, navigation)


Example of Zerolag tracking

  • – We have run GrandSLAM on general automotive-grade LiDAR data and compared the results with and without IMU synchronisation

  • – The result without IMU showed a latency of 50 to 60 milliseconds, while the result with IMU showed a latency of less than 10 microseconds, confirming that it is possible to output a position 5000 times faster and it’s almost ignorable for any practical use cases

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