2DLIW-SLAM: 2D LiDAR-Inertial-Wheel Odometry with Real-Time Loop Closure.
Bin ZhangZexin PengBi ZengJunjie LuPublished in: CoRR (2024)
Keyphrases
- simultaneous localization and mapping
- loop closure
- visual odometry
- kalman filter
- real time
- mobile robot
- visual slam
- map building
- outdoor environments
- particle filter
- data association
- loop closing
- inertial sensors
- robot navigation
- indoor environments
- unknown environments
- dynamic environments
- error accumulation
- mobile robotics
- real environment
- bundle adjustment
- autonomous vehicles
- least squares
- control system
- high resolution