Research on positioning and mapping algorithm of sliding window optimization for substation monitoring robot

This paper proposed a positioning and mapping algorithm of sliding window optimization for substation monitoring robots to solve the problems of low precision location and poor robustness of the existing laser odometer in power inspection outdoor scene mapping. A tightly coupled simultaneous localiz...

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Bibliographic Details

Published in:	Energy Reports
Main Authors:	Zhen-yu Liu, Jing Wang, Ze-yu Hui, Bin Zhao, Fu-li Zhang
Format:	Article
Language:	English
Published:	Elsevier 2023-10-01
Subjects:	Simultaneous localization and mapping LiDAR IMU tight coupling Local map
Online Access:	http://www.sciencedirect.com/science/article/pii/S2352484723009216