A Tightly Coupled LiDAR-Inertial SLAM for Perceptually Degraded Scenes

A Tightly Coupled LiDAR-Inertial SLAM for Perceptually Degraded Scenes

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Realizing robust six degrees of freedom (6DOF) state estimation and high-performance simultaneous localization and mapping (SLAM) for perceptually degraded scenes (such as underground tunnels, corridors, and roadways) is a challenge in robotics. To solve these problems, we propose a SLAM algorithm b...

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Bibliographic Details
Main Authors: Ma, H. (Author), Wang, C. (Author), Wang, Y. (Author), Xia, J. (Author), Yang, L. (Author)
Format: Article
Language:English
Published: MDPI 2022
Subjects:
Degrees of freedom (mechanics)
Front end
IMU
Iterative methods
Kalman filters
LiDAR
Optical radar
Perceptually degraded scene
perceptually degraded scenes
Performance
Robotics
Simultaneous localization and mapping
Simultaneous localization and mapping algorithms
Six degrees of freedom
SLAM
state estimation
State estimation
Tightly-coupled
Underground tunnels
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