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Open Access

Peer-reviewed

Research Article

A long-term localization and mapping system for autonomous inspection robots in large-scale environments using 3D LiDAR sensors

Wandeng Mao,

Roles Methodology, Software, Writing – original draft, Writing – review & editing

Affiliation State Grid Henan Electric Power Research Institute, Zhengzhou, Henan, China
⨯
Liang Jiang,

Roles Investigation, Validation, Visualization, Writing – review & editing

Affiliation State Grid Henan Electric Power Company, Zhengzhou, Henan, China
⨯
Shanfeng Liu,

Roles Data curation, Formal analysis, Visualization

Affiliation State Grid Henan Electric Power Research Institute, Zhengzhou, Henan, China
⨯
Shengzhe Xi,

Roles Data curation, Formal analysis, Investigation

Affiliation State Grid Henan Electric Power Research Institute, Zhengzhou, Henan, China
⨯
Hua Bao

Roles Funding acquisition, Project administration, Supervision

* E-mail: baohua@ahu.edu.cn

Affiliation The School of Artificial Intelligence, Anhui University, Hefei, China

https://orcid.org/0000-0002-3092-7670

⨯

A long-term localization and mapping system for autonomous inspection robots in large-scale environments using 3D LiDAR sensors

Wandeng Mao,
Liang Jiang,
Shanfeng Liu,
Shengzhe Xi,
Hua Bao

x

Published: July 31, 2025
https://doi.org/10.1371/journal.pone.0328169

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