Results 11 to 20 of about 4,275 (207)
Comprehensive Performance Evaluation between Visual SLAM and LiDAR SLAM for Mobile Robots: Theories and Experiments [PDF]
Applied Sciences (Switzerland)SLAM (Simultaneous Localization and Mapping), primarily relying on camera or LiDAR (Light Detection and Ranging) sensors, plays a crucial role in robotics for localization and environmental reconstruction.
Yu-Lin Zhao, Yi-Tian Hong
exaly +4 more sources
Semantic Lidar-Inertial SLAM for Dynamic Scenes [PDF]
Applied Sciences, 2022 Over the past few years, many impressive lidar-inertial SLAM systems have been developed and perform well under static scenes. However, most tasks are under dynamic environments in real life, and the determination of a method to improve accuracy and ...
Zean Bu, Changku Sun, Peng Wang
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STRATEGIES TO INTEGRATE IMU AND LIDAR SLAM FOR INDOOR MAPPING [PDF]
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2020 In recent years, the importance of indoor mapping increased in a wide range of applications, such as facility management and mapping hazardous sites. The essential technique behind indoor mapping is simultaneous localization and mapping (SLAM) because ...
S. Karam, V. Lehtola, G. Vosselman
doaj +6 more sources
A LiDAR/Visual SLAM Backend with Loop Closure Detection and Graph Optimization [PDF]
Remote Sensing, 2021 LiDAR (light detection and ranging), as an active sensor, is investigated in the simultaneous localization and mapping (SLAM) system. Typically, a LiDAR SLAM system consists of front-end odometry and back-end optimization modules.
Shoubin Chen +4 more
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Improved-UWB/LiDAR-SLAM Tightly Coupled Positioning System with NLOS Identification Using a LiDAR Point Cloud in GNSS-Denied Environments [PDF]
Remote Sensing, 2022 Reliable absolute positioning is indispensable in long-term positioning systems. Although simultaneous localization and mapping based on light detection and ranging (LiDAR-SLAM) is effective in global navigation satellite system (GNSS)-denied ...
Zhijian Chen +6 more
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A Benchmark for Multi-Modal LiDAR SLAM with Ground Truth in GNSS-Denied Environments [PDF]
Remote Sensing, 2023 LiDAR-based simultaneous localization and mapping (SLAM) approaches have obtained considerable success in autonomous robotic systems. This is in part owing to the high accuracy of robust SLAM algorithms and the emergence of new and lower-cost LiDAR ...
Ha Sier +5 more
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Weighted Conformal LiDAR-Mapping for Structured SLAM [PDF]
IEEE Transactions on Instrumentation and Measurement, 2023 One of the main challenges in simultaneous localization and mapping (SLAM) is real-time processing. High-computational loads linked to data acquisition and processing complicate this task. This article presents an efficient feature extraction approach for mapping structured environments. The proposed methodology, weighted conformal LiDAR-mapping (WCLM),
Natalia Prieto-Fernández +5 more
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DCL-SLAM: A Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm [PDF]
IEEE Sensors Journal, 2023 To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios, such as the prior information about the environment being absent and poor communication among the team members ...
Shipeng Zhong +5 more
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CURL-SLAM: Continuous and Compact LiDAR Mapping [PDF]
IEEE Transactions on RoboticsThis paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM) systems often rely on 3D point cloud maps, which typically require extensive storage to preserve structural details
Kaicheng Zhang +4 more
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VILO SLAM: Tightly Coupled Binocular Vision–Inertia SLAM Combined with LiDAR [PDF]
Sensors, 2023 For the existing visual–inertial SLAM algorithm, when the robot is moving at a constant speed or purely rotating and encounters scenes with insufficient visual features, problems of low accuracy and poor robustness arise. Aiming to solve the problems of low accuracy and robustness of the visual inertial SLAM algorithm, a tightly coupled vision-IMU-2D ...
Gang Peng 0002 +6 more
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