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1 December 2023 Single-line LiDAR indoor SLAM based on image interpretation
Bo Wang, Zong-ren Chen, Xiang-fei Feng, Jun Yu, Rui-jie Wang, Qi-feng Jiang, Jia-chen Zhang, Yi-fang Tang, Wen-ying Zeng, Jian-hua Hu
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Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129403E (2023) https://doi.org/10.1117/12.3010593
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China
Abstract
Simultaneous Localization and Mapping (SLAM) is a research hotspot with increasing demand for indoor navigation and mapping. Single-line LiDAR is an effective sensor for indoor SLAM due to its low cost and high accuracy. However, its limited field of view makes it difficult to obtain comprehensive 3D point clouds. In this paper, we propose a single-line LiDAR indoor SLAM based on image interpretation. Our proposed system utilizes the Cartographer framework as its backbone and mainly consists of four components, including input sensor data, sematic detection, local SLAM and global SLAM. This approach effectively addresses the limitations of traditional single-line LiDAR SLAM methods that do not incorporate image interpretation and Cartographer map. Experimental results show that our proposed method achieves accurate and robust localization and mapping in indoor environments, and outperforms traditional single-line LiDAR SLAM methods without image interpretation.
(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.
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Bo Wang, Zong-ren Chen, Xiang-fei Feng, Jun Yu, Rui-jie Wang, Qi-feng Jiang, Jia-chen Zhang, Yi-fang Tang, Wen-ying Zeng, and Jian-hua Hu "Single-line LiDAR indoor SLAM based on image interpretation", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129403E (1 December 2023); https://doi.org/10.1117/12.3010593
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KEYWORDS
LIDAR
Object detection
Semantics
Sensors
Pose estimation
Associative arrays
Cameras
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