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Robust SLAM for underground mines via anisotropic degeneracy perception and Cross-Modal consensus arbitration

delete2026-08-10
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PRE
AI
B
Bolong Zhao
L
Ling Qin *
D
Desheng Zhao *
F
Fengying Wang
J
Jiaxing He
DOI：10.1016/j.measurement.2026.122838delete
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Abstract

Abstract

En 中文
• Dimension-consistent Hessian spectral analysis for online degeneracy perception. • Rank-one anisotropic covariance inflation stabilizes LIO along degeneracy. • Cross-modal utility arbitration suppresses aliasing-induced false loop closures. • Confidence-weighted soft injection of loop constraints into the factor graph. • Validated on a real underground mine dataset against mainstream SLAM methods.
Keywords:
Simultaneous localization and mapping (SLAM)
Multi-sensor fusion
Online degeneracy perception
Anisotropic covariance inflation
Cross-modal consensus arbitration
Underground mines

Journal

Measurement cover
Measurement
IF:
5.6
Papers:
1.9W
Citations:
5.4W

Organization

I
inner mongolia university of science and technology
Scholars:
1.5K
Papers: 409
Citations: 0
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