A Multimodal Robust Simultaneous Localization and Mapping Approach Driven by Geodesic Coordinates for Coal Mine Mobile Robots
Round 1
Reviewer 1 Report
This work introduces a SLAM method developed for the localization and mapping needs of mobile robots in complex underground coal mine environments. The method integrates a tightly coupled laser-inertial odometry and absolute geographic constraints based on UWB beacons in a loosely coupled manner to achieve multimodal estimation in complex scenarios. In addition, the work conducts tests on the positioning accuracy and mapping quality of a mobile robot platform in scenarios such as underground garages and underground coal mine laneways, showing the advantages over your previous work as well as the unaided UWB-assisted SLAM method.
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Reviewer 2 Report
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Round 2
Reviewer 2 Report
The authors have addressed all the points defined in the review.