Comparative Analysis of SLAM Algorithms for Mechanical LiDAR and Solid-State LiDAR

激光雷达 测距 遥感 移动机器人 计算机科学 里程计 同时定位和映射 人工智能 机器人 地理 电信
作者
Baoding Zhou,Doudou Xie,Shoubin Chen,Haoquan Mo,Chunyu Li,Qingquan Li
出处
期刊:IEEE Sensors Journal [IEEE Sensors Council]
卷期号:23 (5): 5325-5338 被引量:18
标识
DOI:10.1109/jsen.2023.3238077
摘要

With the advancement of light detection and ranging (LiDAR) technology in recent years, various new types of LiDAR have emerged, and the price of LiDAR equipment has gradually decreased. At present, low-cost solid-state LiDARs are gradually occupying the market. To evaluate the performance of two LIDARs for simultaneous localization and mapping. This study investigated the application of solid-state LiDAR and mechanical LiDAR in localization and mapping systems and comparatively analyzed their advantages and disadvantages. We selected some classic open-source algorithms [such as LiDAR odometry and mapping (A-LOAM)] to evaluate the performance of mechanical LiDAR and solid-state LiDAR in localization. The experimental data are adopted from some representative open-source data (such as KITTI data) and real data collected by Shenzhen University. The results showed that the localization accuracy of solid-state LiDAR was lower than that of mechanical LiDAR when the mobile robot moved to the corner and faced square to the wall at close range. Moreover, the localization accuracy of solid-state LiDAR was the same as or even higher than that of mechanical LiDAR when the mobile robots had small changes in the field of view (FOV) and the mobile robot moved along straight lines or other tracks.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
海上生明月完成签到 ,获得积分10
刚刚
顾矜应助amin采纳,获得10
刚刚
星辰大海应助大饼卷肉采纳,获得10
1秒前
1秒前
Ll_l完成签到,获得积分10
1秒前
Lucas应助刘123采纳,获得10
2秒前
欣欣完成签到 ,获得积分10
2秒前
2秒前
小羊驼发布了新的文献求助10
2秒前
旺仔完成签到,获得积分10
2秒前
阿吉完成签到,获得积分10
2秒前
阳佟问寒完成签到,获得积分20
2秒前
科目三应助CEJ采纳,获得10
3秒前
李爱国应助乐观的凌兰采纳,获得10
3秒前
3秒前
司空博涛发布了新的文献求助10
4秒前
向雨竹发布了新的文献求助10
4秒前
4秒前
5秒前
6秒前
6秒前
悄悄完成签到,获得积分10
6秒前
wuwa完成签到,获得积分10
7秒前
7秒前
WYR发布了新的文献求助10
8秒前
大饼卷肉完成签到,获得积分10
8秒前
FashionBoy应助zzx采纳,获得10
8秒前
沉默白猫发布了新的文献求助10
8秒前
香蕉觅云应助newgeno2003采纳,获得10
8秒前
8秒前
ZZDXXX发布了新的文献求助10
9秒前
不挑食的Marcophages完成签到,获得积分10
9秒前
yizhiGao完成签到,获得积分10
9秒前
烟花应助shunshun采纳,获得10
9秒前
魏1122完成签到,获得积分10
9秒前
零零零零发布了新的文献求助10
10秒前
悄悄发布了新的文献求助10
10秒前
大饼发布了新的文献求助10
10秒前
吃鱼的猫完成签到,获得积分10
10秒前
Ava应助acuter采纳,获得10
11秒前
高分求助中
The Mother of All Tableaux Order, Equivalence, and Geometry in the Large-scale Structure of Optimality Theory 2400
Ophthalmic Equipment Market by Devices(surgical: vitreorentinal,IOLs,OVDs,contact lens,RGP lens,backflush,diagnostic&monitoring:OCT,actorefractor,keratometer,tonometer,ophthalmoscpe,OVD), End User,Buying Criteria-Global Forecast to2029 2000
Optimal Transport: A Comprehensive Introduction to Modeling, Analysis, Simulation, Applications 800
Official Methods of Analysis of AOAC INTERNATIONAL 600
ACSM’s Guidelines for Exercise Testing and Prescription, 12th edition 588
A new approach to the extrapolation of accelerated life test data 500
T/CIET 1202-2025 可吸收再生氧化纤维素止血材料 500
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 3953854
求助须知:如何正确求助?哪些是违规求助? 3499843
关于积分的说明 11096972
捐赠科研通 3230263
什么是DOI,文献DOI怎么找? 1785901
邀请新用户注册赠送积分活动 869663
科研通“疑难数据库(出版商)”最低求助积分说明 801530