Lidar SLAM Based on Particle Filter and Graph Optimization for Substation Inspection

Lidar SLAM Based on Particle Filter and Graph Optimization for Substation Inspection

Simultaneous Localization and Mapping (SLAM) is the core technology of intelligent substation inspection robot. Because of lightweight computation, Rao-Blackwellized Particle Filter (RBPF) is widely used in two-dimensional SLAM. However, it suffers from poor positioning accuracy, low robustness and...

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Bibliographic Details
Main Authors: Mingyang Tu, Pingliang Zeng, Qiuxuan Wu, Tao Jing, Yangyang Tian, Yanbin Luo, Wandeng Mao
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Graph optimization
loop closure detection
RBPF
SLAM
substation inspection
Online Access:https://ieeexplore.ieee.org/document/9970724/

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