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Research questionHow can robots maintain reliable underground localization when smoke, dust, and self-similar corridors undermine vision and LiDAR?Smoke and dust remove visual cues and degrade LiDAR features, while long self-similar corridors provide weak geometric constraints that cause odometry drift.
Computer Vision
Robotics
Latest papersRecent research connected to this question, newest first.FIRE-LIVWO: Robust LiDAR-Inertial-Visual-Wheel Odometry via Failure-Immune mmWave Radar EnhancementThe source studies tightly coupled localization using 4D mmWave radar, LiDAR, vision, and wheel odometry, with online observability-based modality weighting and switching. Evidence comes from real-world underground coal-mine experiments, which report an average localization error of 5.677 m.research paper · Sep 4, 2026
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