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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2509.10032 |
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Table of Contents:
- Spherical robots offer unique advantages for mapping applications in hazardous or confined environments, thanks to their protective shells and omnidirectional mobility. This work presents two complementary spherical mapping systems: a lightweight, non-actuated design and an actuated variant featuring internal pendulum-driven locomotion. Both systems are equipped with a Livox Mid-360 solid-state LiDAR sensor and run LiDAR-Inertial Odometry (LIO) algorithms on resource-constrained hardware. We assess the mapping accuracy of these systems by comparing the resulting 3D point-clouds from the LIO algorithms to a ground truth map. The results indicate that the performance of state-of-the-art LIO algorithms deteriorates due to the high dynamic movement introduced by the spherical locomotion, leading to globally inconsistent maps and sometimes unrecoverable drift.