In accordance with regulations and requirements, the editorial department's website domain has been changed to arocmag.cn. The original domain (arocmag.com) will be discontinued after Dec. 31st, 2024.
See More
App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 3

Large-scale indoor environment SLAM for mobile robot based on Wi-Fi and LiDAR

Xiong Zhuanga,b
Liu Rana,b
Guo Lina,b
Xiao Yufenga,b
a. School of Information Engineering, b. Robot Technology Used for Special Environment Key Laboratory of Sichuan Province, Southwest University of Science & Technology, Mianyang Sichuan 621000, China
DOI: 10.19734/j.issn.1001-3695.2024.06.0244

Abstract

Simultaneous Localization And Mapping (SLAM) is crucial for the autonomous navigation and positioning of robots. Aiming at the problem of considerable pose estimation errors for robots, which are caused by incorrect loop closures in LiDAR SLAM within large-scale indoor environments, this paper proposes a graph-based SLAM algorithm that fuses WiFi and LiDAR information. Initially, the algorithm constructs WiFi fingerprint sequences and LiDAR submaps. Subsequently, it selects LiDAR submaps for loop closure detection based on the mean and standard deviation of similarity between each pair of fingerprint sequences. Then, it extracts feature points from the selected submaps and match them to confirm LiDAR loop closure. Ultimately, using a graph optimization approach, odometry and LiDAR loop closures are fused to optimize the robot's trajectory and construct a global map. Three datasets were collected in 170m×30m and 180m×80m indoor environments to verify the performance of the proposed algorithm. The experimental results show that positioning accuracy of proposed algorithm in three datasets reached 0.78m, 0.67m, and 0.89m, which give improvements of 48.6%, 53.1%, and 68.7% when compared to the LiDAR SLAM algorithm, demonstrating its effectiveness for enhancing pose estimation accuracy in large-scale indoor environments.

Foundation Support

四川省科技计划(2023NSFSC0505,2022YFG0242)
国家自然科学基金资助项目(12175187,12205245)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.06.0244
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 3

Publish History

[2024-09-14] Accepted Paper

Cite This Article

熊壮, 刘冉, 郭林, 等. 融合Wi-Fi与激光的机器人室内大型环境SLAM [J]. 计算机应用研究, 2025, 42 (3). (2024-12-16). https://doi.org/10.19734/j.issn.1001-3695.2024.06.0244. (Xiong Zhuang, Liu Ran, Guo Lin, et al. Large-scale indoor environment SLAM for mobile robot based on Wi-Fi and LiDAR [J]. Application Research of Computers, 2025, 42 (3). (2024-12-16). https://doi.org/10.19734/j.issn.1001-3695.2024.06.0244. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

Indexed & Evaluation

  • The Second National Periodical Award 100 Key Journals
  • Double Effect Journal of China Journal Formation
  • the Core Journal of China (Peking University 2023 Edition)
  • the Core Journal for Science
  • Chinese Science Citation Database (CSCD) Source Journals
  • RCCSE Chinese Core Academic Journals
  • Journal of China Computer Federation
  • 2020-2022 The World Journal Clout Index (WJCI) Report of Scientific and Technological Periodicals
  • Full-text Source Journal of China Science and Technology Periodicals Database
  • Source Journal of China Academic Journals Comprehensive Evaluation Database
  • Source Journals of China Academic Journals (CD-ROM Version), China Journal Network
  • 2017-2019 China Outstanding Academic Journals with International Influence (Natural Science and Engineering Technology)
  • Source Journal of Top Academic Papers (F5000) Program of China's Excellent Science and Technology Journals
  • Source Journal of China Engineering Technology Electronic Information Network and Electronic Technology Literature Database
  • Source Journal of British Science Digest (INSPEC)
  • Japan Science and Technology Agency (JST) Source Journal
  • Russian Journal of Abstracts (AJ, VINITI) Source Journals
  • Full-text Journal of EBSCO, USA
  • Cambridge Scientific Abstracts (Natural Sciences) (CSA(NS)) core journals
  • Poland Copernicus Index (IC)
  • Ulrichsweb (USA)