CM-LIUW-Odometry: Robust and High-Precision LiDAR-Inertial-UWB-Wheel Odometry for Extreme Degradation Coal Mine Tunnels

Kun Hu, Menggang Li, Zhiwen Jin +3

Simultaneous Localization and Mapping (SLAM) in large-scale, complex, and GPS-denied underground coal mine environments presents significant challenges. Sensors must contend with a…