典型文献
Novel robust simultaneous localization and mapping for long-term autonomous robots
文献摘要：
A fundamental task for mobile robots is simultaneous localization and mapping (SLAM). Moreover, long-term robustness is an important property for SLAM. When vehicles or robots steer fast or steer in certain scenarios, such as low-texture environments, long corridors, tunnels, or other duplicated structural environments, most SLAM systems might fail. In this paper, we propose a novel robust visual inertial light detection and ranging (LiDaR) navigation (VILN) SLAM system, including stereo visual-inertial LiDaR odometry and visual-LiDaR loop closure. The proposed VILN SLAM system can perform well with low drift after long-term experiments, even when the LiDaR or visual measurements are degraded occasionally in complex scenes. Extensive experimental results show that the robustness has been greatly improved in various scenarios compared to state-of-the-art SLAM systems.
文献关键词：
中图分类号：
作者姓名：
Wei WEI;Xiaorui ZHU;Yi WANG
作者机构：
School of Mechanical Engineering and Automation,Harbin Institute of Technology,Shenzhen 518055,China;Zhuhai Big Data Research Institute,Zhuhai 519000,China
文献出处：
引用格式：
[1]Wei WEI;Xiaorui ZHU;Yi WANG-.Novel robust simultaneous localization and mapping for long-term autonomous robots)[J].信息与电子工程前沿（英文）,2022(02):234-245
A类：
LiDaR,VILN
B类：
Novel,simultaneous,localization,mapping,long,term,autonomous,robots,fundamental,task,mobile,SLAM,Moreover,robustness,important,property,When,vehicles,steer,fast,certain,scenarios,such,low,texture,environments,corridors,tunnels,other,duplicated,structural,most,systems,might,fail,In,this,paper,novel,visual,inertial,light,detection,ranging,navigation,including,stereo,odometry,loop,closure,proposed,can,perform,well,drift,after,experiments,even,when,measurements,degraded,occasionally,complex,scenes,Extensive,experimental,results,show,that,has,been,greatly,improved,various,compared,state,art
AB值：
0.578392
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