Citation: | MA Aiqiang, YAO Wanqiang. Multi sensor adaptive fusion SLAM method for underground mobile robots in coal mines[J]. Journal of Mine Automation,2024,50(5):107-117. doi: 10.13272/j.issn.1671-251x.2024050031 |
[1] |
肖琳芬. 王国法院士:煤矿智能化技术体系建设进展与煤炭产业数字化转型[J]. 高科技与产业化,2024,30(2):12-15.
XIAO Linfen. Academician Wang Guofa:progress in the construction of intelligent technology system in coal mines and the digital transformation of coal industry[J]. High-Technology & Commercialization,2024,30(2):12-15.
|
[2] |
任满翊. 无人化智能煤矿建设探索与实践[J]. 工矿自动化,2022,48(增刊1):27-29.
REN Manyi. Exploration and practice of unmanned intelligent coal mine construction[J]. Journal of Mine Automation,2022,48(S1):27-29.
|
[3] |
KHATTAK S,NGUYEN H,MASCARICH F,et al. Complementary multi-modal sensor fusion for resilient robot pose estimation in subterranean environments[C]. International Conference on Unmanned Aircraft Systems,Athens,2020:1024-1029.
|
[4] |
龚云,颉昕宇. 基于同态滤波方法的煤矿井下图像增强技术研究[J]. 煤炭科学技术,2023,51(3):241-250.
GONG Yun,JIE Xinyu. Research on coal mine underground image recognition technology based on homomorphic filtering method[J]. Coal Science and Technology,2023,51(3):241-250.
|
[5] |
YANG Xin,LIN Xiaohu,YANG Wanqiang,et al. A robust LiDAR SLAM method for underground coal mine robot with degenerated scene compensation[J]. Remote Sensing,2022,15(1). DOI: 10.3390/RS15010186.
|
[6] |
WU Weitong,LI Jianping,CHEN Chi,et al. AFLI-Calib:robust LiDAR-IMU extrinsic self-calibration based on adaptive frame length LiDAR odometry[J]. ISPRS Journal of Photogrammetry and Remote Sensing,2023,199:157-181. doi: 10.1016/j.isprsjprs.2023.04.004
|
[7] |
COLE D M,NEWMAN P M. Using laser range data for 3D SLAM in outdoor environments[C]. IEEE International Conference on Robotics and Automation,Orlando,2006:1556-1563.
|
[8] |
LI Menggang,ZHU Hua,YOU Shaoze,et al. Efficient laser-based 3D SLAM in real time for coal mine rescue robots[C]. 8th Annual International Conference on Technology in Automation,Control,and Intelligent Systems,Tianjin,2018:971-976.
|
[9] |
KNEIP L,WEISS S,SIEGWART R. Deterministic initialization of metric state estimation filters for loosely-coupled monocular vision-inertial systems[C]. IEEE/RSJ International Conference on Intelligent Robots and Systems,San Francisco,2011:2235-2241.
|
[10] |
BLOESCH M,BURRI M,OMARI S,et al. Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback[J]. The International Journal of Robotics Research,2017,36(10):1053-1072. doi: 10.1177/0278364917728574
|
[11] |
GOMEZ-OJEDA R,MORENO F A,ZUNIGA-NOëL D,et al. PL-SLAM:a stereo SLAM system through the combination of points and line segments[J]. IEEE Transactions on Robotics,2019,35(3):734-746. doi: 10.1109/TRO.2019.2899783
|
[12] |
YANG Gaochao,WANG Qing,LIU Pengfei,et al. An improved monocular PL-SlAM method with point-line feature fusion under low-texture environment[C]. 4th International Conference on Control and Computer Vision,Macau,2021:119-125.
|
[13] |
ZHAO Shibo,FANG Zheng,LI Haolai,et al. A robust laser-inertial odometry and mapping method for large-scale highway environments[C]. IEEE/RSJ International Conference on Intelligent Robots and Systems,Macau,2019:1285-1292.
|
[14] |
SHAN Tixiao,ENGLOT B,MEYERS D,et al. Lio-sam:tightly-coupled lidar inertial odometry via smoothing and mapping[C]. IEEE/RSJ International Conference on Intelligent Robots and Systems,Las Vegas,2020:5135-5142.
|
[15] |
ZHANG Ji,SINGH S. Visual-lidar odometry and mapping:low-drift,robust,and fast[C]. IEEE International Conference on Robotics and Automation,Seattle,2015:2174-2181.
|
[16] |
LIU Yanqing,YANG Dongdong,LI Jiamao,et al. Stereo visual-inertial SLAM with points and lines[J]. IEEE Access,2018,6:69381-69392. doi: 10.1109/ACCESS.2018.2880689
|
[17] |
TIAN Chengjun,LIU Haobo,LIU Zhe,et al. Research on multi-sensor fusion SLAM algorithm based on improved gmapping[J]. IEEE Access,2023,11(9):13690-13703.
|
[18] |
SHAN Tixiao,ENGLOT B,RATTI C,et al. Lvi-sam:tightly-coupled lidar-visual-inertial odometry via smoothing and mapping[C]. IEEE International Conference on Robotics and Automation,Xi'an,2021:5692-5698.
|
[19] |
隋心,王思语,罗力,等. 基于点云特征的改进RANSAC地面分割算法[J]. 导航定位学报,2024,12(1):106-114l.
SUI Xin,WANG Siyu,LUO Li,et al. Improved RANSAC ground segmentation algorithm based on point cloud features[J]. Journal of Navigation and Positioning,2024,12(1):106-114.
|
[20] |
HUANG S C,CHENG F C,CHIU Y S. Efficient contrast enhancement using adaptive gamma correction with weighting distribution[J]. IEEE Transactions on Image Processing,2013,22(3):1032-1041. doi: 10.1109/TIP.2012.2226047
|
[21] |
WANG Jun,WANG Rui,WU Anwen. Improved gamma correction for visual slam in low-light scenes[C]. IEEE 3rd Advanced Information Management,Communicates,Electronic and Automation Control Conference,Chongqing,2019:1159-1163.
|
[22] |
HUANG Lidong,ZHAO Wei,WANG Jun,et al. Combination of contrast limited adaptive histogram equalisation and discrete wavelet transform for image enhancement[J]. IET Image Processing,2015,9(10):908-915. doi: 10.1049/iet-ipr.2015.0150
|
[23] |
MESSIKOMMER N,FANG C,GEHRIG M,et al. Data-driven feature tracking for event cameras[C]. IEEE/CVF Conference on Computer Vision and Pattern Recognition,Vancouver,2023:5642-5651.
|
[24] |
GIOI R G,JAKUBOWICZ J,MOREL J M,et al. LSD:a fast line segment detector with a false detection control[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence,2010,32(4):722-732. doi: 10.1109/TPAMI.2008.300
|
[25] |
ZHANG Lilian,KOCH R. An efficient and robust line segment matching approach based on LBD descriptor and pairwise geometric consistency[J]. Journal of Visual Communication and Image Representation,2013,24(7):794-805. doi: 10.1016/j.jvcir.2013.05.006
|
[26] |
LIU Zhe,SHI Dianxi,LI Ruihao,et al. PLC-VIO:visual-inertial odometry based on point-line constraints[J]. IEEE Transactions on Automation Science and Engineering,2022,19(3):1880-1897. doi: 10.1109/TASE.2021.3077026
|
[27] |
TRIGGS B,MCLAUCHLAN P F,HARTLEY R I,et al. Bundle adjustment-a modern synthesis[C]. Vision Algorithms:Theory and Practic,1999. DOI: 10.1007/3-540-44480-7_21.
|
[28] |
LI Ang,ZOU Danping,YU Wenxian. Robust initialization of multi-camera slam with limited view overlaps and inaccurate extrinsic calibration[C]. IEEE/RSJ International Conference on Intelligent Robots and Systems,Pargue,2021:3361-3367.
|
[29] |
FURGALE P,REHDER J,SIEGWART R. Unified temporal and spatial calibration for multi-sensor systems[C]. IEEE/RSJ International Conference on Intelligent Robots and Systems,Tokyo,2013:1280-1286.
|
[30] |
MAJEED S H,ISA N A M. Adaptive entropy index histogram equalization for poor contrast images[J]. IEEE Access,2020,9:6402-6437.
|