Long Peng, Weigang Li, Qifeng Wang, Huan Yi. Lidar SLAM Algorithm Based on Point Cloud Geometry and Intensity Information[J]. Laser & Optoelectronics Progress, 2025, 62(8): 0815001
- Laser & Optoelectronics Progress
- Vol. 62, Issue 8, 0815001 (2025)
Fig. 1. Framework of proposed algorithm
Fig. 2. Schematic diagram of intensity map construction
Fig. 3. Schematic diagram of cylindrical block generation. (a) Schematic diagram of point cloud division into cylinders; (b) schematic diagram of subspace division within each cylinder
Fig. 4. Projection map of GICSC descriptor
Fig. 5. Trajectory diagrams and local enlarged diagrams by different algorithms on the KITTI dataset. (a) Sequence 00; (b) sequence 05; (c) sequence 09
Fig. 6. ATE histograms. (a) Sequence 00; (b) sequence 05; (c) sequence 09
Fig. 7. Trajectory diagrams by different algorithms on the MULRAN dataset
Fig. 8. Trajectory diagrams of ablation experiment for loop detection. (a) Sequence 00; (b) sequence 05
Fig. 9. Trajectory diagrams of ablation experiment for feature descriptor. (a) Sequence 00; (b) sequence 05
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Table 1. Comparison of ATE for various algorithms on sequence 00, 05, and 09 of the KITTI dataset
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Table 2. Comparison of ATE for various algorithms on the MULRAN dataset
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Table 3. ATE Comparison of ablation experiments for loop detection on the sequence 00, 05 of the KITTI dataset
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Table 4. ATE Comparison of ablation experiments for feature descriptor
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