SLAM-RAMU: 3D LiDAR-IMU lifelong SLAM with relocalization and autonomous map updating for accurate and reliable navigation.
Bushi ChenXunyu ZhongHan XiePengfei PengHuosheng HuXungao ZhongQiang LiuPublished in: Ind. Robot (2024)
Keyphrases
- monocular slam
- map building
- loop closure
- loop closing
- simultaneous localization and mapping
- mobile robot
- autonomous vehicles
- indoor environments
- autonomous navigation
- topological map
- visual slam
- outdoor environments
- single camera
- robot navigation
- obstacle avoidance
- robotic systems
- unknown environments
- dynamic environments
- land vehicle
- highly accurate
- absolute position
- mobile robotics
- data association
- path planning
- bundle adjustment
- visual odometry
- monocular camera
- error accumulation
- multi robot
- particle filter
- high quality
- multiple cameras
- structure from motion
- inertial measurement unit
- learning activities
- object and scene recognition