LiDAR-IMU Tightly-Coupled SLAM Method Based on IEKF and Loop Closure Detection

LiDAR-IMU Tightly-Coupled SLAM Method Based on IEKF and Loop Closure Detection

Simultaneous Localization and Mapping (SLAM) technology based on LiDAR can achieve real-time robot positioning and establish environmental maps in unknown environments. LiDAR odometry can achieve accurate pose estimation in short distances or small-scale environments, but the accuracy will decrease...

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Bibliographic Details
Main Authors: Huimin Pan, Dongfeng Liu, Jingzheng Ren, Tianxiong Huang, Huijun Yang
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing
Subjects:
Inertial measurement unit (IMU)
iterative extended Kalman filtering (IEKF)
LiDAR simultaneous localization and mapping (SLAM)
loop closure detection
Online Access:https://ieeexplore.ieee.org/document/10430368/

Internet

https://ieeexplore.ieee.org/document/10430368/

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