Qian Zhang

Two-Dimensional LiDAR SLAM with Multi-Resolution Distance-Field Matching, Adaptive Keyframes, and Loop Closure

In two-dimensional laser SLAM exploration and mapping in complex indoor environments, scan matching is sensitive to the initial pose, error accumulation, and redundant map updates. To address these issues, an MDF-ALC-SLAM method is proposed. Firstly, a multi-resolution distance field is constructed at the front end, an...