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In large-scale environments and unstructured scenarios, the accuracy and robustness of traditional light detection and ranging (LiDAR) simultaneous localization and mapping (SLAM) algorithms are reduced, and the algorithms might even be completely ineffective. To overcome these problems, this study aims to propose a 3D LiDAR SLAM method for ground-based mobile robots, which uses a 3D LiDAR fusion inertial measurement unit (IMU) to establish an environment map and realize real-time localization.

First, we use a normal distributions transform (NDT) algorithm based on a local map with a corresponding motion prediction model for point cloud registration in the front-end. Next, point cloud features are tightly coupled with IMU angle constraints, ground constraints and gravity constraints for graph-based optimization in the back-end. Subsequently, the cumulative error is reduced by adding loop closure detection.

The algorithm is tested using a public data set containing indoor and outdoor scenarios. The results confirm that the proposed algorithm has high accuracy and robustness.

To improve the accuracy and robustness of SLAM, this method proposed in the paper introduced the NDT algorithm in the front-end and designed ground constraints and gravity constraints in the back-end. The proposed method has a satisfactory performance when applied to ground-based mobile robots in complex environments experiments.

The light detection and ranging sensor has been widely deployed in the area of simultaneous localization and mapping (SLAM) for its remarkable accuracy, but obvious drift phenomenon and large accumulated error are inevitable when using SLAM. The purpose of this study is to alleviate the accumulated error and drift phenomenon in the process of mapping.

A novel light detection and ranging SLAM system is introduced based on Normal Distributions Transform and dynamic Scan Context with switch. The pose-graph optimization is used as back-end optimization module. The loop closure detection is only operated in the scenario, while the path satisfies conditions of loop-closed.

The proposed algorithm exhibits competitiveness compared with current approaches in terms of the accumulated error and drift distance. Further, supplementary to the place recognition process that is usually performed for loop detection, the authors introduce a novel dynamic constraint that takes into account the change in the direction of the robot throughout the total path trajectory between corresponding frames, which contributes to avoiding potential misidentifications and improving the efficiency.

The proposed system is based on Normal Distributions Transform and dynamic Scan Context with switch. The pose-graph optimization is used as back-end optimization module. The loop closure detection is only operated in the scenario, while the path satisfies condition of loop-closed.

The purpose of this paper is to present a scan matching simultaneous localization and mapping (SLAM) algorithm based on particle filter to generate the grid map online. It mainly focuses on reducing the memory consumption and alleviating the loop closure problem.

The proposed method alleviates the loop closure problem by improving the accuracy of the robot’s pose. First, two improvements were applied to enhance the accuracy of the hill climbing scan matching. Second, a particle filter was used to maintain the diversity of the robot’s pose and then to supply potential seeds to the hill climbing scan matching to ensure that the best match point was the global optimum. The proposed method reduces the memory consumption by maintaining only a single grid map.

Simulation and experimental results have proved that this method can build a consistent map of a complex environment. Meanwhile, it reduced the memory consumption and alleviates the loop closure problem.

In this paper, a new SLAM algorithm has been proposed. It can reduce the memory consumption and alleviate the loop closure problem without lowering the accuracy of the generated grid map.

This paper aims to propose a series of approaches to solve the problem of the mobile robot motion control and autonomous navigation in large-scale outdoor GPS-denied environments.

Based on the model of mobile robot with two driving wheels, a controller is designed and tested in obstacle-cluttered scenes in this paper. By using the priori “topology-geometry” map constructed based on the odometer data and the online matching algorithm of 3D-laser scanning points, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control.

A series of experiments are conducted with a self-designed mobile robot platform in large-scale outdoor environments, and the experimental results show the validity and effectiveness of the proposed approach.

The problem of motion control for a differential drive mobile robot is investigated in this paper first. At the same time, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control.

Robot localization technology has been widely studied for decades and a lot of remarkable approaches have been developed. However, in practice, this technology has hardly been applied to common day-to-day deployment scenarios. The purpose of this paper is to present a novel approach that focuses on improving the localization robustness in complicated environment.

The localization robustness is improved by dynamically switching the localization components (such as the environmental camera, the laser range finder and the depth camera). As the components are highly heterogeneous, they are developed under the robotic technology component (RTC) framework. This simplifies the developing process by increasing the potential for reusability and future expansion. To realize this switching, the localization reliability for each component is modeled, and a configuration method for dynamically selecting dependable components at run-time is presented.

The experimental results show that this approach significantly decreases robot lost situation in the complicated environment. The robustness is further enhanced through the cooperation of heterogeneous localization components.

A multi-component automatic switching approach for robot localization system is developed and described in this paper. The reliability of this system is proved to be a substantial improvement over single-component localization techniques.

In recent decades, the field of robotic mapping has witnessed widespread research and development in light detection and ranging (LiDAR)-based simultaneous localization and mapping (SLAM) techniques. This paper aims to provide a significant reference for researchers and engineers in robotic mapping.

This paper focused on the research state of LiDAR-based SLAM for robotic mapping as well as a literature survey from the perspective of various LiDAR types and configurations.

This paper conducted a comprehensive literature review of the LiDAR-based SLAM system based on three distinct LiDAR forms and configurations. The authors concluded that multi-robot collaborative mapping and multi-source fusion SLAM systems based on 3D LiDAR with deep learning will be new trends in the future.

To the best of the authors’ knowledge, this is the first thorough survey of robotic mapping from the perspective of various LiDAR types and configurations. It can serve as a theoretical and practical guide for the advancement of academic and industrial robot mapping.

Laser navigation without a reflector does not require setup of reflector markers at the scene and thus has the advantages of free path setting and flexible change. This technology has attracted wide attention in recent years and shows great potential in the field of automatic logistics, including map building and locating in real-time according to the environment. This paper aims to focus on the application of feature matching for map building.

First, an improved linear binary relation algorithm was proposed to calculate the local similarity of the feature line segments, and the matching degree matrix of feature line segments between two adjacent maps was established. Further, rough matching for the two maps was performed, and both the initial rotation matrix and the translation vector for the adjacent map matching were obtained. Then, to improve the rotation matrix, a region search optimization algorithm was proposed, which took the initial rotation matrix as the starting point and searched gradually along a lower error-of-objective function until the error sequence was nonmonotonic. Finally, the random-walk method was proposed to optimize the translation vector by iterating until the error-objective function reached the minimum.

The experimental results show that the final matching error was controlled within 10 mm after both rotation and translation optimization. Also, the algorithm of map matching and optimization proposed in this paper can realize accurately the feature matching of a laser navigation map and basically meet the real-time navigation and positioning requirements for an automated-guided robot.

A linear binary relation algorithm was proposed, and the local similarity between line segments is calculated on the basis of the binary relation. The hill-climbing region search algorithm and the random-walk algorithm were proposed to optimize the rotation matrix and the translation vector, respectively. This algorithm has been applied to industrial production.

In this study, an indoor sensor information fusion positioning system of the quadrotor unmanned aerial vehicle (UAV) was investigated to solve the problem of unstable indoor flight positioning.

The presented system was built on Light Detection and Ranging (LiDAR), Inertial Measurement Unit (IMU) and LiDAR-Lite devices. Based on this, one can obtain the aircraft's current attitude and the position vector relative to the target and control the attitudes and positions of the UAV to reach the specified target positions. While building a UAV positioning model relative to the target for indoor positioning scenarios under limited Global Navigation Satellite Systems (GNSS), the system detects the environment through the NVIDIA Jetson TX2 (Transmit Data) peripheral sensor, obtains the current attitude and the position vector of the UAV, packs the data in the format and delivers it to the flight controller. Then the flight controller controls the UAV by calculating the posture to reach the specified target position.

The authors used two systems in the experiment. The first is the proposed UAV, and the other is the Vicon system, our reference system for comparison purposes. Vicon positioning error can be considered lower than 2 mm from low to high-speed experiments. After comparison, experimental results demonstrated that the system could fully meet the requirements (less than 50 mm) in real-time positioning of the indoor quadrotor UAV flight. It verifies the accuracy and robustness of the proposed method compared with that of Vicon and achieves the aim of a stable indoor flight preliminarily.

Vicon positioning error can be considered lower than 2 mm from low to high-speed experiments. After comparison, experimental results demonstrated that the system could fully meet the requirements (less than 50 mm) in real-time positioning of the indoor quadrotor UAV flight. It verifies the accuracy and robustness of the proposed method compared with that of Vicon and achieves the aim of a stable indoor flight preliminarily.

This research aims to study the materials that compose older reinforced concrete bridges which are damaged and degrading to explain the mechanisms and origins of various disorders. Therefore, this work will contribute to providing answers on the capacity of nondestructive evaluation method during the diagnosis. In addition to the characterization of affected structures, it will aim to provide effective solutions for different serious pathologies.

In this context, two bridges located on NH16 and NH21, respectively, were studied in Annaba city (north-east Algeria), specifically in El-Hadjar municipality located in the central industrial zone of Pont-Bouchet. This study makes it possible to make conclusions from the in-depth diagnosis based on disorders exposition causes and mechanical characteristics evolution by non-destructive testing (NDT) tools. Furthermore, solutions are proposed, including conservation maintenance of these degraded structures.

All degradations can be the result of several factors: either human (poor design) or chemical (surface water, wastewater and groundwater quality (acidic or basic)). In addition to other natural causes (geological formations, flood phenomena or climate), NDT tools play a major role in the evaluating mechanical performance of degraded structures (resistance and hardness).

The NDT techniques can be transmitted to civil engineering experts because their training is limited regarding mechanical and structural construction.

NDT tools are the most suitable for in-situ assessing, and the concrete constructions health state, so far from financial problems.

Degraded bridge diagnosis by NDT testing is necessary for a thorough safety evaluation (mechanical performance, strength and deformability), to protect human lives and design durability.

This is an original paper which contains new information at different scales and from special fields, based on an evaluation using NDT tools on real degraded structures. It can be used to improve the knowledge of materials employed in a bridge without performing expensive direct tests or the need for destroying it.

In recent years, additive manufacturing (AM) technology has been acknowledged as an efficient method for producing geometrical complex objects with a wide range of applications. However, dimensional inaccuracies and presence of defects hinder the broad adaption of AM procedures. These factors arouse concerns regarding the quality of the products produced with AM and the utilization of quality control (QC) techniques constitutes a must to further support this emerging technology. This paper aims to assist researchers to obtain a clear sight of what are the trends and what has been inspected so far concerning non-destructive testing (NDT) QC methods in AM.

In this paper, a survey on research advances on non-destructive QC procedures used in AM technology has been conducted. The paper is organized as follows: Section 2 discusses the existing NDT methods applied for the examination of the feedstock material, i.e. incoming quality control (IQC). Section 3 outlines the inspection methods for in situ QC, while Section 4 presents the methods of NDT applied after the manufacturing process i.e. outgoing QC methods. In Section 5, statistical QC methods used in AM technologies are documented. Future trends and challenges are included in Section 6 and conclusions are drawn in Section 7.

The primary scope of the study is to present the available and reliable NDT methods applied in every AM technology and all stages of the process. Most of the developed techniques so far are concentrated mainly in the inspection of the manufactured part during and post the AM process, compared to prior to the procedure. Moreover, material extrusion, direct energy deposition and powder bed processes are the focal points of the research in NDT methods applied in AM.

This literature review paper is the first to collect the latest and the most compatible techniques to evaluate the quality of parts produced by the main AM processes prior, during and after the manufacturing procedure.