... fusion by integrating a thermal imaging camera with a 3D LiDAR sensor. The system combines a lightweight-configured YOLOv8s object detection model and a TOF-based distance detection algorithm. Experimental validation and result analysis were conducted to verify the effectiveness of sensor-based object...

... of geometric constraints in certain directions within the robot’s environment (Haddi et al., 2022). Structurally sparse scenes include indoor long straight corridors, lengthy tunnels, vast highways, single-sided walls and bridges. In these settings, robots equipped with 3D LiDAR-SLAM systems often...