Wenxue Hu, Zehua Wang, Cheng Yu, Kui Yang, Dongtai Liang. A laser inertial SLAM approach based on planar expansion and constrained optimization[J]. Opto-Electronic Engineering, 2024, 51(4): 230279-1
- Opto-Electronic Engineering
- Vol. 51, Issue 4, 230279-1 (2024)
Fig. 1. Algorithm flow chart
Fig. 2. Postural transformation
Fig. 3. Comparison chart of iPCA-based planar optimization
Fig. 4. Block diagram of tightly coupled nonlinear optimization
Fig. 5. Plane constraints
Fig. 6. Experimental hardware platform
Fig. 7. Realistic environments for different scenarios
Fig. 8. Plane extraction. (a) Before extraction; (b) After extraction
Fig. 9. Comparison of the estimated trajectories of room_02 and hall_01 sequence algorithms with the real trajectories
Fig. 10. Comparison between the estimated trajectory of the Indoor_01 sequence algorithm and the actual trajectory
Fig. 11. Running time analysis of each part of this algorithm
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Table 1. Comparison of predicted and true values for planar extraction
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Table 2. Comparison of absolute trajectory error and mean between this algorithm and the comparison algorithm (unit: m)
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Table 3. Comparison of absolute trajectory error and mean between this algorithm and the comparison algorithm (unit: m)
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