Laser SLAM Method for Nearshore Unmanned Boat Based on Embankment Feature Extraction

Keran Li; Ligang Li; Zehao He; Hongbing Xu; Yongshou Dai

doi:10.3788/LOP231845

Laser & Optoelectronics Progress, Volume. 61, Issue 14, 1428003(2024)

Laser SLAM Method for Nearshore Unmanned Boat Based on Embankment Feature Extraction

Keran Li¹, Ligang Li^1、*, Zehao He², Hongbing Xu¹, and Yongshou Dai¹

¹College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao 266580, Shandong , China

²College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, Shandong , China

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References(19)

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[3] Jiang L, Liu Q, Lei B et al. Identifying and constructing semantic maps based on laser and vision fusions for improving localization performance[J]. Chinese Journal of Lasers, 49, 1810003(2022).

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[8] Shan T X, Englot B, Meyers D et al. LIO-SAM: tightly-coupled lidar inertial odometry via smoothing and mapping[C], 5135-5142(2020).

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[17] Shen D, Xu Y H, Li Q et al. Research on laser SLAM algorithm based on sparse pose optimization[J]. Laser & Optoelectronics Progress, 58, 2428003(2021).

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[19] Michael G. EVO: python package for the evaluation of odometry and SLAM[EB/OL]. https://github.com/MichaelGrupp/evo

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Keran Li, Ligang Li, Zehao He, Hongbing Xu, Yongshou Dai. Laser SLAM Method for Nearshore Unmanned Boat Based on Embankment Feature Extraction[J]. Laser & Optoelectronics Progress, 2024, 61(14): 1428003

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Paper Information

Category: Remote Sensing and Sensors

Received: Aug. 2, 2023

Accepted: Nov. 23, 2023

Published Online: Jul. 8, 2024

The Author Email: Ligang Li (upcllg@163.com)

DOI:10.3788/LOP231845

CSTR:32186.14.LOP231845

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology