A Tightly Coupled LiDAR-Inertial SLAM for Perceptually Degraded Scenes

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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Detalhes bibliográficos
Main Authors: Lin Yang, Hongwei Ma, Yan Wang, Jing Xia, Chuanwei Wang
Formato: Artigo
Idioma:Inglês
Publicado em: MDPI AG 2022-04-01
Colecção:Sensors
Assuntos:
perceptually degraded scenes
LiDAR
IMU
state estimation
SLAM
Acesso em linha:https://www.mdpi.com/1424-8220/22/8/3063
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