Chinese Journal of Lasers, Volume. 52, Issue 17, 1710005(2025)

Backend Optimization Algorithm for LiDAR SLAM with Vector Map Constraints

Qiuping Lan, Tian Xia, Hong Mei, and Jia Li*
Author Affiliations
  • School of Earth Sciences and Engineering, Hohai University, Nanjing 211100, Jiangsu , China
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    References(22)

    [2] Spero D J, Jarvis R A. A review of robotic SLAM: MECSE-4-2007[R](2007).

    [8] Guo W Z, Li L Y, Cheng Z H et al. Comparison of prior map/IMU/LiDAR map optimization and error state Kalman filter pose estimation methods[J]. Science of Surveying and Mapping, 48, 88-97(2023).

    [9] Lü R, Chen L, Weng X et al. A back-end optimization algorithm of SLAM based on graph model with prior points[J]. Geomatics and Information Science of Wuhan University, 39, 745-749(2014).

    [12] Rodriguez J, Dario I D. A factor graph approach to constrained optimization[D], 17-26(2017).

    [20] Lan F C, Wei Y T, Chen J Q et al. Research on method of laser inertial SLAM based on factor graph optimization[J]. Journal of Chongqing University of Technology (Natural Science), 38, 1-11(2024).

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    Qiuping Lan, Tian Xia, Hong Mei, Jia Li. Backend Optimization Algorithm for LiDAR SLAM with Vector Map Constraints[J]. Chinese Journal of Lasers, 2025, 52(17): 1710005

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    Paper Information

    Category: remote sensing and sensor

    Received: Apr. 3, 2025

    Accepted: May. 6, 2025

    Published Online: Sep. 4, 2025

    The Author Email: Jia Li (lijia.xk@hhu.edu.cn)

    DOI:10.3788/CJL250661

    CSTR:32183.14.CJL250661

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