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Efficient and accurate 3D reconstruction in a featureless tunnel environment: a robust LiDAR-Inertial SLAM tightly coupled with wheel odometry

Published Online: 2025-08-30

Published Print: 2025-12

Authors

Liu, Wenli

Qi, Yafei

Guan, Tanghao

Liang, Yaofeng https://orcid.org/0009-0005-3940-5835
Funding

Funding for this research was provided by:

National Key Research and Development Program (2023YFC3805800)

Innovative Research Group Project of the National Natural Science Foundation of China (U21A20151)

Innovative Research Group Project of the National Natural Science Foundation of China (72171094)

Innovative Research Group Project of the National Natural Science Foundation of China (52192664)
License Information

Text and Data Mining valid from 2025-08-30

Version of Record valid from 2025-08-30
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Article History

Received: 18 November 2024

Revised: 10 July 2025

Accepted: 5 August 2025

First Online: 30 August 2025

Declarations

:

: No potential conflict of interest was reported by the authors.

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