Matches in SemOpenAlex for { <https://semopenalex.org/work/W2940375009> ?p ?o ?g. }
Showing items 1 to 93 of
93
with 100 items per page.
- W2940375009 abstract "The accurate description of laneway space with self-localization is a key issue when coal mine rescue robots (CMRRs) perform post-disaster exploration and rescue missions. 3D Simultaneous Localization and Mapping (SLAM) is an effective but time-critical with highly challenging task in semi-structured laneway environment. In this paper, we propose a novel real-time 3D SLAM based on Normal Distributed Transform (NDT) which also take pose graph optimization and loop closure to further improve the consistency of mapping. We innovatively extract the floors and walls as plane nodes to construct constraints, in addition to applying pose nodes from the lidar odometry. Edges of the graph are constructed by the observation constraints between pose nodes and plain nodes. A simple and effective loop detection method is used via odometry-based in conjunction with appearance-based approach to build a global consistent map. The proposed method has been evaluated on the public dataset KITTI and field tests in a simulated underground coal mine. The results indicate that our algorithm can achieve lower computational complexity and lower drift in well-conditioned scenes and degenerate scenes, which can provide pose estimation and environment description for CMRRs to realize remote control assistance and automatic navigation in the coal mine rescue missions." @default.
- W2940375009 created "2019-04-25" @default.
- W2940375009 creator A5001237017 @default.
- W2940375009 creator A5015968549 @default.
- W2940375009 creator A5040489354 @default.
- W2940375009 creator A5082904324 @default.
- W2940375009 creator A5089994140 @default.
- W2940375009 date "2018-07-01" @default.
- W2940375009 modified "2023-09-27" @default.
- W2940375009 title "Efficient Laser-Based 3D SLAM in Real Time for Coal Mine Rescue Robots" @default.
- W2940375009 cites W1953793983 @default.
- W2940375009 cites W1970117927 @default.
- W2940375009 cites W2029780423 @default.
- W2940375009 cites W2066713014 @default.
- W2940375009 cites W2071158641 @default.
- W2940375009 cites W2112082021 @default.
- W2940375009 cites W2131439959 @default.
- W2940375009 cites W2133844819 @default.
- W2940375009 cites W2277848489 @default.
- W2940375009 cites W2295130602 @default.
- W2940375009 cites W2296228853 @default.
- W2940375009 cites W2564361441 @default.
- W2940375009 cites W2567633051 @default.
- W2940375009 cites W3083656528 @default.
- W2940375009 cites W3124420883 @default.
- W2940375009 doi "https://doi.org/10.1109/cyber.2018.8688349" @default.
- W2940375009 hasPublicationYear "2018" @default.
- W2940375009 type Work @default.
- W2940375009 sameAs 2940375009 @default.
- W2940375009 citedByCount "6" @default.
- W2940375009 countsByYear W29403750092019 @default.
- W2940375009 countsByYear W29403750092021 @default.
- W2940375009 countsByYear W29403750092022 @default.
- W2940375009 countsByYear W29403750092023 @default.
- W2940375009 crossrefType "proceedings-article" @default.
- W2940375009 hasAuthorship W2940375009A5001237017 @default.
- W2940375009 hasAuthorship W2940375009A5015968549 @default.
- W2940375009 hasAuthorship W2940375009A5040489354 @default.
- W2940375009 hasAuthorship W2940375009A5082904324 @default.
- W2940375009 hasAuthorship W2940375009A5089994140 @default.
- W2940375009 hasConcept C108615695 @default.
- W2940375009 hasConcept C127413603 @default.
- W2940375009 hasConcept C132525143 @default.
- W2940375009 hasConcept C154945302 @default.
- W2940375009 hasConcept C17006198 @default.
- W2940375009 hasConcept C19966478 @default.
- W2940375009 hasConcept C2775935494 @default.
- W2940375009 hasConcept C31972630 @default.
- W2940375009 hasConcept C34413123 @default.
- W2940375009 hasConcept C41008148 @default.
- W2940375009 hasConcept C49441653 @default.
- W2940375009 hasConcept C518851703 @default.
- W2940375009 hasConcept C52102323 @default.
- W2940375009 hasConcept C548081761 @default.
- W2940375009 hasConcept C79403827 @default.
- W2940375009 hasConcept C80444323 @default.
- W2940375009 hasConcept C86369673 @default.
- W2940375009 hasConcept C90509273 @default.
- W2940375009 hasConceptScore W2940375009C108615695 @default.
- W2940375009 hasConceptScore W2940375009C127413603 @default.
- W2940375009 hasConceptScore W2940375009C132525143 @default.
- W2940375009 hasConceptScore W2940375009C154945302 @default.
- W2940375009 hasConceptScore W2940375009C17006198 @default.
- W2940375009 hasConceptScore W2940375009C19966478 @default.
- W2940375009 hasConceptScore W2940375009C2775935494 @default.
- W2940375009 hasConceptScore W2940375009C31972630 @default.
- W2940375009 hasConceptScore W2940375009C34413123 @default.
- W2940375009 hasConceptScore W2940375009C41008148 @default.
- W2940375009 hasConceptScore W2940375009C49441653 @default.
- W2940375009 hasConceptScore W2940375009C518851703 @default.
- W2940375009 hasConceptScore W2940375009C52102323 @default.
- W2940375009 hasConceptScore W2940375009C548081761 @default.
- W2940375009 hasConceptScore W2940375009C79403827 @default.
- W2940375009 hasConceptScore W2940375009C80444323 @default.
- W2940375009 hasConceptScore W2940375009C86369673 @default.
- W2940375009 hasConceptScore W2940375009C90509273 @default.
- W2940375009 hasLocation W29403750091 @default.
- W2940375009 hasOpenAccess W2940375009 @default.
- W2940375009 hasPrimaryLocation W29403750091 @default.
- W2940375009 hasRelatedWork W2020164879 @default.
- W2940375009 hasRelatedWork W2060890775 @default.
- W2940375009 hasRelatedWork W2134943711 @default.
- W2940375009 hasRelatedWork W2534097725 @default.
- W2940375009 hasRelatedWork W2562524049 @default.
- W2940375009 hasRelatedWork W2889788701 @default.
- W2940375009 hasRelatedWork W2972219788 @default.
- W2940375009 hasRelatedWork W4200132814 @default.
- W2940375009 hasRelatedWork W4289543137 @default.
- W2940375009 hasRelatedWork W4312653399 @default.
- W2940375009 isParatext "false" @default.
- W2940375009 isRetracted "false" @default.
- W2940375009 magId "2940375009" @default.
- W2940375009 workType "article" @default.