#5916. Simple loop closing for continuous 6DOF LIDAR&IMU graph SLAM with planar features for indoor environments

July 2026publication date
Proposal available till 19-05-2025
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Journal’s subject area:
Engineering (miscellaneous);
Computer Science Applications;
Computers in Earth Sciences;
Atomic and Molecular Physics, and Optics;
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Abstract:
Simultaneous localization and mapping (SLAM) is the essential technique in mapping environments that are denied to the global navigation satellite systems (GNSSs), such as indoor spaces. In this article, we present a loop-closing continuous-time LIDAR-IMU SLAM for indoor environments. The design of the proposed SLAM is based on arbitrarily-oriented planar features that allow for point to plane matching for local but also global optimization. Moreover, to update the SLAM graph during the optimization, we propose a simple yet elegant loop closure method in the form of merging the planes together. Representing the SLAM map by planes is advantageous due to the abundant existence of planar structures in indoor built environments. The proposed method was validated on a specific configuration of three 2D LIDAR scanners mounted on a wearable platform (backpack). Scanned point clouds were compared against ones obtained from a commercial mobile mapping system (Viametris iMS3D) and a terrestrial laser scanner (RIEGL VZ-400).
Keywords:
6DOF; Graph SLAM; IMU; Indoor; Laser scanner; LIDAR; Loop closure; Mobile mapping; Planar features; Planar structures hypothesis; Point clouds; Splines

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