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Lidar odometry survey: recent advancements and remaining challenges
Odometry is crucial for robot navigation, particularly in situations where global positioning
methods like global positioning system are unavailable. The main goal of odometry is to …
methods like global positioning system are unavailable. The main goal of odometry is to …
LiDAR-based end-to-end active SLAM using deep reinforcement learning in large-scale environments
Autonomous exploration in expansive and complicated environments poses a significant
challenge. When the dimensions of the environment expand, exploration algorithms …
challenge. When the dimensions of the environment expand, exploration algorithms …
Lidar-link: Observability-aware probabilistic plane-based extrinsic calibration for non-overlap** solid-state lidars
J Xu, S Huang, S Qiu, L Zhao, W Yu… - IEEE Robotics and …, 2024 - ieeexplore.ieee.org
As solid-state LiDAR technology advances, mobile robotics and autonomous driving
increasingly rely on multiple solid-state LiDARs for perception. However, limited or non …
increasingly rely on multiple solid-state LiDARs for perception. However, limited or non …
MCG-SLAM: Tightly coupled SLAM for multi-factor constraint graph optimisation
Q Wang, W Li, L Nie, Z Tian, Y Li - Information Sciences, 2024 - Elsevier
Simultaneous localization and map** (SLAM) technology is a core component for
achieving high-precision vehicle localization and navigation in the field of autonomous …
achieving high-precision vehicle localization and navigation in the field of autonomous …
Robust Ground Constrained SLAM for Mobile Robot With Sparse-Channel LiDAR
Although LiDAR SLAM has been widely studied over the past decades, it suffers from
degradation situation, particularly for sparse-channel LiDAR. This study proposes a hybrid …
degradation situation, particularly for sparse-channel LiDAR. This study proposes a hybrid …
SI-LIO: High-Precision Tightly-Coupled LiDAR-Inertial Odometry via Single-Iteration Invariant Extended Kalman Filter
C Zhang, J Zhang, Q Liu, Y Liu… - IEEE Robotics and …, 2024 - ieeexplore.ieee.org
This letter focuses on the accuracy of LiDAR-inertial odometry (LIO). We propose a novel
high-precision tightly-coupled LIO method, SI-LIO, based on the invariant extended Kalman …
high-precision tightly-coupled LIO method, SI-LIO, based on the invariant extended Kalman …
GCV-SLAM: Ground Constrained Visual SLAM Through Local Ground Planes
Y Fan, P Zhang, Z Wang, C Liu, G Zhang - IEEE Access, 2024 - ieeexplore.ieee.org
The classical visual Simultaneous Localization and Map** (SLAM) algorithms assume
that the camera moves in a free 3D space, while it is not valid for ground vehicles whose …
that the camera moves in a free 3D space, while it is not valid for ground vehicles whose …