GNSS/INS/LiDAR-SLAM Integrated Navigation System Based on Graph Optimization
TLDR
The results show that the proposed GNSS/INS/LiDAR-SLAM integrated navigation system can effectively improve the navigation positioning accuracy and can significantly mitigate the navigation error, especially for cases of GNSS signal attenuation or interruption.Citations
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Journal ArticleDOI
GNSS/IMU/ODO/LiDAR-SLAM Integrated Navigation System Using IMU/ODO Pre-Integration
Le Chang,Xiaoji Niu,Tianyi Liu +2 more
TL;DR: The test in the real tunnel case shows that in weak environmental feature areas where the LiDAR-SLAM can barely work, the assistance of the odometer in the pre-integration is critical and can effectually reduce the positioning drift along the forward direction and maintain the SLAM in the short-term.
Journal ArticleDOI
Mobile 3D scan LiDAR: a literature review
TL;DR: In this article, the authors reviewed different years (from 2010 to 2020) of research activities performed with Mobile Laser Scanning system, and aimed to review existing systems and how they are exploite.
Journal ArticleDOI
Autonomous Integrity Monitoring for Vehicular Navigation With Cellular Signals of Opportunity and an IMU
Mahdi Maaref,Zaher M. Kassas +1 more
TL;DR: The multipath in a cellular-based navigation framework is characterized and it is shown that the proposed RAIM-based measurement exclusion technique reduces the position root mean-squared error (RMSE) by 66%.
Journal ArticleDOI
NRLI-UAV: Non-rigid registration of sequential raw laser scans and images for low-cost UAV LiDAR point cloud quality improvement
TL;DR: NRLI-UAV is a non-rigid registration method for registration of sequential raw laser scans and images collected by low-cost UAV systems that exploits trajectory correction and discrepancy minimization between the depths derived from structure from motion (SfM) and theRaw laser scans to achieve LiDAR point cloud quality improvement.
Journal ArticleDOI
SLAM integrated mobile mapping system in complex urban environments
TL;DR: A SLAM-integrated MMS with the capability of efficient, consistent and robust mapping in complex environments where GNSS signal is intermittently lost is presented, developed to take the feedback from mapping module to the localization module into account.
References
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Journal ArticleDOI
Simultaneous localization and mapping: part I
TL;DR: This paper describes the simultaneous localization and mapping (SLAM) problem and the essential methods for solving the SLAM problem and summarizes key implementations and demonstrations of the method.
Journal ArticleDOI
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator
TL;DR: In this article, a robust and versatile monocular visual-inertial state estimator is presented, which is the minimum sensor suite (in size, weight, and power) for the metric six degrees of freedom (DOF) state estimation.
Journal ArticleDOI
Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age
Cesar Cadena,Luca Carlone,Henry Carrillo,Yasir Latif,Davide Scaramuzza,José Neira,Ian Reid,John J. Leonard +7 more
TL;DR: Simultaneous localization and mapping (SLAM) as mentioned in this paper consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it.
Proceedings ArticleDOI
LOAM: Lidar Odometry and Mapping in Real-time
Ji Zhang,Sanjiv Singh +1 more
TL;DR: The method achieves both low-drift and low-computational complexity without the need for high accuracy ranging or inertial measurements and can achieve accuracy at the level of state of the art offline batch methods.
Journal ArticleDOI
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Cesar Cadena,Luca Carlone,Henry Carrillo,Yasir Latif,Davide Scaramuzza,José L. Neira,Ian Reid,John J. Leonard +7 more
TL;DR: What is now the de-facto standard formulation for SLAM is presented, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers.
Related Papers (5)
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator
GNSS/IMU/ODO/LiDAR-SLAM Integrated Navigation System Using IMU/ODO Pre-Integration
Le Chang,Xiaoji Niu,Tianyi Liu +2 more