APPLIED LASER, Volume. 44, Issue 3, 97(2024)

Lidar SLAM Algorithm Based on Lidar Iris Loop Closure Detection

Hao FengTong, Wu Yelan*, Guan wenyang, Zhang Junjing, and wang Jiaqi
Author Affiliations
  • [in Chinese]
  • show less
    References(16)

    [1] [1] ZHOU Z G, CAO J W, DI S F. Overview of 3D lidar SLAM algorithms[J]. Chinese Journal of Scientific Instrument, 2021, 41(9): 1327.

    [2] [2] LI H, HUANG Y Q, LIN L. Loop detection laser SLAM algorithm based on global descriptor[J]. Applied Laser, 2023, 43(1): 8490.

    [3] [3] SHAN T X, ENGLOT B. LeGOLOAM: Lightweight and groundoptimized lidar odometry and mapping on variable terrain[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain: IEEE, 2018: 47584765.

    [4] [4] ZHANG J, SINGH S. Lowdrift and realtime lidar odometry and mapping[J]. Autonomous Robots, 2017, 41(2): 401416.

    [5] [5] RUSINKIEWICZ S, LEVOY M. Efficient variants of the ICP algorithm[C]//Proceedings Third International Conference on 3D Digital Imaging and Modeling. Quebec City, QC, Canada: IEEE, 2002: 145152.

    [6] [6] GUO J D, BORGES P V K, PARK C, et al. Local descriptor for robust place recognition using LiDAR intensity[J]. IEEE Robotics and Automation Letters, 2019, 4(2): 14701477.

    [7] [7] HE L, WANG X L, ZHANG H. M2DP: A novel 3D point cloud descriptor and its application in loop closure detection[C]//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Daejeon, Korea (South): IEEE, 2016: 231237.

    [8] [8] KIM G, KIM A. Scan context: Egocentric spatial descriptor for place recognition within 3D point cloud map[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain. IEEE, 2018: 48024809.

    [9] [9] WANG H, WANG C, XIE L H. Intensity scan context: Coding intensity and geometry relations for loop closure detection[C]//2020 IEEE International Conference on Robotics and Automation (ICRA). Paris, France: IEEE, 2020: 20952101.

    [10] [10] KIM G, CHOI S, KIM A. Scan context: Structural place recognition robust to rotation and lateral variations in urban environments[J]. IEEE Transactions on Robotics, 2022, 38(3): 18561874.

    [11] [11] WANG Y, SUN Z Z, XU C Z, et al. LiDAR iris for loopclosure detection[C]//2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Las Vegas, NV, USA. IEEE, 2020: 57695775.

    [12] [12] WANG R Y, ZHOU Z F, ZHANG W, et al. LiDAR point cloud fusion algorithm based on IMU and improved ICP algorithm[J]. Applied Laser, 2023, 43(11): 161172.

    [13] [13] LIU L, BAI Y H, SUN Z Y, et al. Multiframe point cloud scene registration method fused with IMU[J]. Laser & Infrared, 2022, 52(8): 12461250.

    [14] [14] XU X S, LI N, YAO Y Q. Lidar SLAM algorithm in outdoor environment based on fast loop detection[J]. Journal of Chinese Inertial Technology, 2022, 30(6): 716722.

    [15] [15] DAUGMAN J. How iris recognition works[J]. IEEE Transactions on Circuits and Systems for Video Technology, 2004, 14(1): 2130.

    [16] [16] GEIGER A, LENZ P, STILLER C, et al. Vision meets robotics: The KITTI dataset[J]. International Journal of Robotics Research, 2013, 32(11): 12311237.

    Tools

    Get Citation

    Copy Citation Text

    Hao FengTong, Wu Yelan, Guan wenyang, Zhang Junjing, wang Jiaqi. Lidar SLAM Algorithm Based on Lidar Iris Loop Closure Detection[J]. APPLIED LASER, 2024, 44(3): 97

    Download Citation

    EndNote(RIS)BibTexPlain Text
    Save article for my favorites
    Paper Information

    Category:

    Received: Jan. 14, 2024

    Accepted: --

    Published Online: Aug. 16, 2024

    The Author Email: Yelan Wu (wuyel@Th.bTbu.edu.cn)

    DOI:10.14128/j.cnki.al.20244403.097

    Topics