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Journal of Zhejiang University SCIENCE C 1998 Vol.-1 No.-1 P.

http://doi.org/10.1631/FITEE.2000358


A novel robust SLAM for long-term autonomous robot


Author(s):  Wei WEI, Xiao-rui ZHU, Yi WANG

Affiliation(s):  Harbin Institute of Technology, Shenzhen 518055, China; more

Corresponding email(s):   weirui9003@gmail.com, xiaoruizhu@hit.edu.cn, wangyi601@aliyun.com

Key Words:  SLAM, Long-term, Robustness, VILN


Wei WEI, Xiao-rui ZHU, Yi WANG. A novel robust SLAM for long-term autonomous robot[J]. Frontiers of Information Technology & Electronic Engineering, 1998, -1(-1): .

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author="Wei WEI, Xiao-rui ZHU, Yi WANG",
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publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2000358"
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DOI - 10.1631/FITEE.2000358


Abstract: 
A fundamental task for mobile robots is simultaneous localization and mapping (SLAM). Moreover, long-term robustness is an important property for SLAM. When vehicles or robots steer fast or in certain scenarios, such as low-texture environments, long corridors, tunnels or other duplicated structural environments, most SLAM systems might fail. In this paper, we propose a novel robust visual inertial light detection and ranging (LiDaR) navigation (VILN) SLAM system, including stereo visual-inertial LiDaR odometry and visual-LiDaR loop closure. The proposed VILN SLAM system can perform well with low drift after long-term experiments, even when the LiDaR or visual measurements are degraded occasionally in complex scenes. The extensive experimental results show that the robustness has been greatly improved in various scenarios compared to state-of-the-art SLAM systems.

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