P3-LOAM: PPP/LiDAR Loosely Coupled SLAM With Accurate Covariance Estimation and Robust RAIM in Urban Canyon Environment
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Sensors Journal"
DOI: 10.1109/jsen.2020.3042968
Abstract: Light Detection and Ranging (LiDAR) based Simultaneous Localization and Mapping (SLAM) has drawn increasing interests in autonomous driving. However, LiDAR-SLAM suffers from accumulating errors which can be significantly mitigated by Global Navigation Satellite System (GNSS).… read more here.
Keywords: ppp; lidar; loam; canyon environment ... See more keywords
A Novel 3D LiDAR SLAM Based on Directed Geometry Point and Sparse Frame
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.3043200
Abstract: Simultaneous localization and mapping is an indispensable yet challenging direction for mobile robots. Attracted by 3D LiDAR with accurate depth information and robustness to illumination variations, many 3D LiDAR SLAM methods based on scan-to-map matching… read more here.
Keywords: lidar slam; sparse; based directed; geometry ... See more keywords
$\mathcal {PLC}$-LiSLAM: LiDAR SLAM With Planes, Lines, and Cylinders
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3180116
Abstract: Planes, lines, and cylinders widely exist in man-made environments. This letter introduces a LiDAR simultaneous localization and mapping (SLAM) system using those three types of landmarks. Our algorithm has three components including local mapping, global… read more here.
Keywords: lines cylinders; lidar slam; mathcal plc; planes lines ... See more keywords
EKF-LOAM: An Adaptive Fusion of LiDAR SLAM With Wheel Odometry and Inertial Data for Confined Spaces With Few Geometric Features
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DOI: 10.1109/tase.2022.3169442
Abstract: A precise localization system and a map that properly represents the environment are fundamental for several robotic applications. Traditional LiDAR SLAM algorithms are particularly susceptible to underestimating the distance covered by real robots in environments… read more here.
Keywords: lidar slam; geometric features; wheel odometry; ekf loam ... See more keywords
A LiDAR SLAM With PCA-Based Feature Extraction and Two-Stage Matching
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DOI: 10.1109/tim.2022.3156982
Abstract: Simultaneous localization and mapping (SLAM) has been studied for decades in the field of robotics, in which light detection and ranging (LiDAR) is widely used in various application areas benefiting from its accessibility of direct,… read more here.
Keywords: pca based; slam; two stage; based feature ... See more keywords
Efficient and Accurate Tightly-Coupled Visual-Lidar SLAM
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Intelligent Transportation Systems"
DOI: 10.1109/tits.2021.3130089
Abstract: We investigate a novel way to integrate visual SLAM and lidar SLAM. Instead of enhancing visual odometry via lidar depths or using visual odometry as the motion initial guess of lidar odometry, we propose tightly-coupled… read more here.
Keywords: coupled visual; tightly coupled; lidar slam; lidar ... See more keywords