SLAM-RAMU: 3D LiDAR-IMU lifelong SLAM with relocalization and autonomous map updating for accurate and reliable navigation
Bushi Chen,
Xunyu Zhong,
Han Xie
et al.
Abstract:Purpose
Autonomous mobile robots (AMRs) play a crucial role in industrial and service fields. The paper aims to build a LiDAR-based simultaneous localization and mapping (SLAM) system used by AMRs to overcome challenges in dynamic and changing environments.
Design/methodology/approach
This research introduces SLAM-RAMU, a lifelong SLAM system that addresses these challenges by providing precise and consistent relocalization and autonomous map updating (RAMU). During the mapping process, local odometry is obt… Show more
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