工矿自动化2026，Vol.52Issue(2)：16-24,9.DOI:10.13272/j.issn.1671-251x.2025090060
融合语义路标的煤矿井下多传感器建图与定位方法
Multi-sensor mapping and localization method in underground coal mines based on semantic landmarks
摘要
Abstract
Simultaneous Localization and Mapping(SLAM)is a key technology for achieving autonomous navigation of mining robots.However,due to sparse and highly repetitive environmental features in underground coal mines,significant cumulative localization errors and prolonged relocalization times occur.To address this problem,a multi-sensor mapping and localization method for underground coal mines based on semantic landmarks was proposed.The method integrated observation information from visual odometry,inertial odometry,and LiDAR odometry to construct a tightly coupled multi-sensor fusion odometry system,thereby improving localization robustness in feature-deficient environments.Semantic landmarks suitable for underground environments were defined.By establishing a mapping relationship between roadway structural features and landmark encoding information,a fused semantic landmark map containing spatial geometric features and customized semantic labels was constructed to solve low relocalization efficiency and feature mismatches caused by the high repetitiveness of roadway features.Semantic landmarks were used to correct cumulative odometry errors in real time to achieve dynamic pose correction of the robot.Experiments were conducted using a dust suppression robot platform in surface tunnel environments and in underground industrial tests.The results showed that the average mapping error in the ground tunnel was 0.020 m,the maximum static localization error was 0.035 m,the maximum absolute pose error in dynamic localization was 0.153 m,and the average relocalization time was 3.3 s.In underground roadways,a global map covering 2 400 m was constructed,with an average error of 0.038 m per 100 m,and autonomous navigation of the robot was achieved.关键词
矿用机器人/机器人自主导航/同步定位与建图/语义路标/重定位Key words
mining robots/autonomous robot navigation/simultaneous localization and mapping/semantic landmarks/relocalization分类
矿业与冶金引用本文复制引用
李小波,杨奉豪,高铭阳,黄昌鑫,刘奎..融合语义路标的煤矿井下多传感器建图与定位方法[J].工矿自动化,2026,52(2):16-24,9.基金项目
国家重点研发计划项目(2022YFB4703600) （2022YFB4703600）
中煤科工集团重庆研究院有限公司自立科研开发项目(2023ZDZX04,2025YBXM58,2025YBXM59). （2023ZDZX04,2025YBXM58,2025YBXM59）
