A Tightly Coupled LiDAR-Inertial SLAM for Perceptually Degraded Scenes.
Lin YangHongwei MaYan WangJing XiaChuanwei WangPublished in: Sensors (2022)
Keyphrases
- tightly coupled
- fine grained
- mobile robot
- loosely coupled
- general purpose
- simultaneous localization and mapping
- kalman filter
- point cloud
- dynamic model
- human perception
- mobile robotics
- motion blur
- high resolution
- indoor environments
- dynamic scenes
- particle filter
- data association
- real scenes
- loop closing
- complex scenes
- dynamic environments
- computer vision
- lidar data
- visual slam