A Laser-Based SLAM Algorithm of the Unmanned Surface Vehicle for Accurate Localization and Mapping in an Inland Waterway Scenario

A Laser-Based SLAM Algorithm of the Unmanned Surface Vehicle for Accurate Localization and Mapping in an Inland Waterway Scenario

It is important to improve the localization accuracy of the unmanned surface vehicle (USV) for ensuring safe navigation in an inland waterway scenario. However, the localization accuracy of the USV is affected by the limited availability of global navigation satellite system signals, the sparsity of...

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Bibliographic Details
Main Authors: Yang Wang, Chao Liu, Jiahe Liu, Jinzhe Wang, Jianbin Liu, Kai Zheng, Rencheng Zheng
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Journal of Marine Science and Engineering
Subjects:
unmanned surface vehicle
inland waterway
laser-based SLAM
rejection sampling
loop closure detection
mixed global descriptor
Online Access:https://www.mdpi.com/2077-1312/12/12/2311
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