A multi-sensor fusion simultaneous localization and mapping algorithm suitable for coal mines

GAO Mingyang; ZHANG Zhigang; LIU Qixin; LI Xiaobo

doi:10.13347/j.cnki.mkaq.20240514

Safety in Coal Mines > 2025 > 56(2): 233-241. > DOI: 10.13347/j.cnki.mkaq.20240514

GAO Mingyang, ZHANG Zhigang, LIU Qixin, et al. A multi-sensor fusion simultaneous localization and mapping algorithm suitable for coal mines[J]. Safety in Coal Mines, 2025, 56（2）: 233−241. DOI: 10.13347/j.cnki.mkaq.20240514

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A multi-sensor fusion simultaneous localization and mapping algorithm suitable for coal mines

China Coal Technology and Engineering Group Chongqing Research Institute, Chongqing 400037, China

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Received Date: April 11, 2024
Revised Date: May 09, 2024

Graphical Abstract

Abstract

Abstract

Simultaneous localization and mapping (SLAM) is a key technology to achieve coal mine intellectualization, but its usage is restricted in underground coal mines due to feature degradation. To address this problem, a multi-sensor fusion SLAM algorithm which is suitable for underground coal mines is proposed. It consists of two sub-systems: a visual odometry system and a lidar SLAM system. The visual odometry system is composed of a near-infrared camera and an inertial measurement unit (IMU) sensor. The laser SLAM system is based on the features-point laser SLAM framework, using visual odometer information instead of IMU pre-integration, and improving the laser point cloud feature classification method for coal mine roadway structure to optimize the radar frame scanning matching. The exception handling mechanism is designed in the vision odometer system to avoid IMU error accumulation caused by point cloud feature degradation, which leads to the failure of positioning and mapping. The test results of the algorithm in simulated roadway of the coal mine show that the algorithm can run reliably in the roadway environment, and the stability and robustness of the algorithm are significantly improved compared with the existing SLAM algorithm.
- coal mine intellectualization,
- simultaneous localization and mapping,
- multi-sensor fusion,
- lidar SLAM,
- visual odometry

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References

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A multi-sensor fusion simultaneous localization and mapping algorithm suitable for coal mines