Hongyu Hou

Wheel-Legged SLAM: Indoor LiDAR-Inertial SLAM Integrating Kinematic Model of Wheel-Legged Robots

SLAM is the key technique for localization and surrounding perception in indoor environments. However, the dynamic posture adjustments of wheel-legged robots cast new challenges that affect the accuracy of localization. Therefore, this letter presents the Wheel-Legged SLAM, a novel indoor SLAM metho