Ronghua Li, Yufeng Qi, Hui Xie, Xingyuan Han. Tightly coupled LiDAR SLAM method for unknown environment[J]. Infrared and Laser Engineering, 2023, 52(9): 20220839
- Infrared and Laser Engineering
- Vol. 52, Issue 9, 20220839 (2023)
Fig. 1. Framework of tightly coupled laser SLAM algorithm
Fig. 2. Cumulative error of the odometer
Fig. 3. Loop detection of variable threshold
Fig. 4. Experimental robot platform
Fig. 5. Long corridor environment
Fig. 6. Algorithm comparison experiment
Fig. 7. Comparison of experimental results of fast rotating scene
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Table 1. Algorithm performance comparision
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Table 2. Evaluation parameters of loop detaction
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Table 3. Comparison of loop detection results
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Table 4. Comparison of single frame run time
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