LCPF: A Particle Filter Lidar SLAM System With Loop Detection and Correction

LCPF: A Particle Filter Lidar SLAM System With Loop Detection and Correction

A globally consistent map is the basis of indoor robot localization and navigation. However, map built by Rao-Blackwellized Particle Filter (RBPF) doesn't have high global consistency which is not suitable for long-term application in large scene. To address the problem, we present an improved...

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Bibliographic Details
Main Authors: Fuyu Nie, Weimin Zhang, Zhuo Yao, Yongliang Shi, Fangxing Li, Qiang Huang
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Simultaneous localization and mapping
mobile robots
indoor navigation
particle filter
loop detection
dynamic submap segementation
Online Access:https://ieeexplore.ieee.org/document/8964341/

Internet

https://ieeexplore.ieee.org/document/8964341/

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