IMU-LiDAR integrated SLAM technology for unmanned driving in mines

IMU-LiDAR integrated SLAM technology for unmanned driving in mines

Simultaneous localization and mapping (SLAM) is a critical technology for unmanned driving. Existing SLAM methods have the drawbacks of significant cumulative errors and drift in coal mine roadway environment. In this study, a roadway environment feature-assisted SLAM algorithm integrating inertial...

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Bibliographic Details
Main Authors: HU Qingsong, LI Jingwen, ZHANG Yuansheng, LI Shiyin, SUN Yanjing
Format: Article
Language:zho
Published: Editorial Department of Industry and Mine Automation 2024-10-01
Series:Gong-kuang zidonghua
Subjects:
unmanned driving
simultaneous localization and mapping
slam
lidar
inertial measurement unit
environmental feature-assisted
factor graph optimization
Online Access:http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.18209
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http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.18209

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