LiDAR SLAM Based on Double-Layer Global Pose Graph Optimization

Xia Tian; Jing Chao; Zhang Jia; Zhang Xingzhong; Cheng Yongqiang

doi:10.14128/j.cnki.al.20254504.129

APPLIED LASER, Volume. 45, Issue 4, 129(2025)

LiDAR SLAM Based on Double-Layer Global Pose Graph Optimization

Xia Tian^1,2, Jing Chao^1,3, Zhang Jia¹, Zhang Xingzhong^1,2、*, and Cheng Yongqiang^1,4

Author Affiliations

¹Shanxi Energy Internet Research Institute, Taiyuan 030000, Shanxi, China

²College of Software, Taiyuan University of Technology, Jinzhong 030600, Shanxi, China

³College of Artificial Intelligence, Xi′an Jiaotong University, Xi′an 710049, Shaanxi, China

⁴College of Information Engineering, Taiyuan University of Technology, Jinzhong 030600, Shanxi, China

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Xia Tian, Jing Chao, Zhang Jia, Zhang Xingzhong, Cheng Yongqiang. LiDAR SLAM Based on Double-Layer Global Pose Graph Optimization[J]. APPLIED LASER, 2025, 45(4): 129

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Paper Information

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Received: Aug. 8, 2023

Accepted: Sep. 8, 2025

Published Online: Sep. 8, 2025

The Author Email: Zhang Xingzhong (1659898176@qq.com)

DOI:10.14128/j.cnki.al.20254504.129

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology