Laser & Optoelectronics Progress, Volume. 62, Issue 10, 1015001(2025)

IMU/LiDAR Tightly Coupled Mobile Robot Localization and Mapping Algorithm

Bin Zhang, Xiaohui Xu, and Haihong Li*
Author Affiliations
  • School of Mechanical Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, Shanxi , China
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    References(18)

    [9] Yang L, Ma H W, Wang Y. LiDAR-Inertial SLAM for mobile robot in underground coal mine[J]. Journal of China Coal Society, 47, 3523-3534(2022).

    [14] Wen C W, Huang S C. A LiDAR point cloud registration method combining linear feature extraction and TrICP algorithm[J]. Multimedia Systems, 29, 3209-3221(2023).

    [15] Lu K K, Liu L S, Kou K H et al. MEMS-IMU error calibration compensation method independent of precision turntable[J]. Chinese Journal of Scientific Instrument, 43, 129-136(2022).

    [16] Shen Y, Xiao X H, Liu H et al. Real-time localization and mapping method for agricultural robot in orchards based on LiDAR/IMU tight-coupling[J]. Transactions of the Chinese Society for Agricultural Machinery, 54, 20-28, 48(2023).

    [17] Sun H, Wang P, Ni C et al. Loop closure detection based on image semantic feature and bag-of-words[J]. Multimedia Tools and Applications, 83, 36377-36398(2024).

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    Bin Zhang, Xiaohui Xu, Haihong Li. IMU/LiDAR Tightly Coupled Mobile Robot Localization and Mapping Algorithm[J]. Laser & Optoelectronics Progress, 2025, 62(10): 1015001

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    Paper Information

    Category: Machine Vision

    Received: Sep. 18, 2024

    Accepted: Oct. 28, 2024

    Published Online: May. 6, 2025

    The Author Email: Haihong Li (haihongli@tyust.edu.cn)

    DOI:10.3788/LOP242011

    CSTR:32186.14.LOP242011

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