An Enhanced Multi-Sensor Simultaneous Localization and Mapping (SLAM) Framework with Coarse-to-Fine Loop Closure Detection Based on a Tightly Coupled Error State Iterative Kalman Filter

An Enhanced Multi-Sensor Simultaneous Localization and Mapping (SLAM) Framework with Coarse-to-Fine Loop Closure Detection Based on a Tightly Coupled Error State Iterative Kalman Filter

In order to attain precise and robust transformation estimation in simultaneous localization and mapping (SLAM) tasks, the integration of multiple sensors has demonstrated effectiveness and significant potential in robotics applications. Our work emerges as a rapid tightly coupled LIDAR-inertial-vis...

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Bibliographic Details
Main Authors: Changhao Yu, Zichen Chao, Haoran Xie, Yue Hua, Weitao Wu
Format: Article
Language:English
Published: MDPI AG 2023-12-01
Series:Robotics
Subjects:
localization
mapping
multi-sensor
SLAM
Online Access:https://www.mdpi.com/2218-6581/13/1/2

Internet

https://www.mdpi.com/2218-6581/13/1/2

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