Application and Development Trends of Laser SLAM Technology in China's Underground Coal Mines
Abstract：To address the challenges of equipment positioning and environmental perception in the intelligent construction of underground coal mines, and to adapt to special working conditions such as low illumination and high dust, this paper systematically reviews the research progress and development trends of laser SLAM technology in China's underground coal mines. It outlines the three stages of evolution of 2D, 3D, and laser vision SLAM: 2D SLAM (since 2015) achieved positioning in simple scenarios but was limited by data volume and ranging distance; 3D SLAM (since 2020) combined with IMU to improve accuracy; laser vision SLAM (since 2020) integrated image information, and by 2024, the root mean square error of related algorithms had been reduced to 0.15 m. The authors also point out that current issues include insufficient research on feature extraction, lack of texture in data, and the absence of a unified evaluation dataset. Looking ahead, future work should combine millimeter-wave radar and deep learning optimization algorithms to balance performance and efficiency, promoting the application of the technology in mining and excavation scenarios, and providing support for coal mine robot navigation and intelligent perception.
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Publication Date：2025-11-30
Online Publishing Date：2025-12-10(First online date of this platform, not the publication date of the document)
Pages：11( 118-128 )