{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,17]],"date-time":"2026-06-17T16:14:31Z","timestamp":1781712871611,"version":"3.54.5"},"reference-count":36,"publisher":"MDPI AG","issue":"13","license":[{"start":{"date-parts":[[2024,7,7]],"date-time":"2024-07-07T00:00:00Z","timestamp":1720310400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["61901056"],"award-info":[{"award-number":["61901056"]}]},{"name":"National Natural Science Foundation of China","award":["52005048"],"award-info":[{"award-number":["52005048"]}]},{"name":"Youth Science Foundation of the National Natural Science Foundation of China","award":["61901056"],"award-info":[{"award-number":["61901056"]}]},{"name":"Youth Science Foundation of the National Natural Science Foundation of China","award":["52005048"],"award-info":[{"award-number":["52005048"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>As an important vehicle in road construction, the unmanned roller is rapidly advancing in its autonomous compaction capabilities. To overcome the challenges of GNSS positioning failure during tunnel construction and diminished visual positioning accuracy under different illumination levels, we propose a feature-layer fusion positioning system based on a camera and LiDAR. This system integrates loop closure detection and LiDAR odometry into the visual odometry framework. Furthermore, recognizing the prevalence of similar scenes in tunnels, we innovatively combine loop closure detection with the compaction process of rollers in fixed areas, proposing a selection method for loop closure candidate frames based on the compaction process. Through on-site experiments, it is shown that this method not only enhances the accuracy of loop closure detection in similar environments but also reduces the runtime. Compared with visual systems, in static positioning tests, the longitudinal and lateral accuracy of the fusion system are improved by 12 mm and 11 mm, respectively. In straight-line compaction tests under different illumination levels, the average lateral error increases by 34.1% and 32.8%, respectively. In lane-changing compaction tests, this system enhances the positioning accuracy by 33% in dim environments, demonstrating the superior positioning accuracy of the fusion positioning system amid illumination changes in tunnels.<\/jats:p>","DOI":"10.3390\/s24134408","type":"journal-article","created":{"date-parts":[[2024,7,8]],"date-time":"2024-07-08T09:01:19Z","timestamp":1720429279000},"page":"4408","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["A Fusion Positioning System Based on Camera and LiDAR for Unmanned Rollers in Tunnel Construction"],"prefix":"10.3390","volume":"24","author":[{"given":"Hao","family":"Huang","sequence":"first","affiliation":[{"name":"National Engineering Laboratory for Highway Maintenance Equipment, Chang\u2019an University, Xi\u2019an 710064, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yongbiao","family":"Hu","sequence":"additional","affiliation":[{"name":"National Engineering Laboratory for Highway Maintenance Equipment, Chang\u2019an University, Xi\u2019an 710064, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xuebin","family":"Wang","sequence":"additional","affiliation":[{"name":"National Engineering Laboratory for Highway Maintenance Equipment, Chang\u2019an University, Xi\u2019an 710064, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,7,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"754","DOI":"10.1016\/j.ifacol.2018.10.135","article-title":"Accurate trajectory tracking with disturbance-resistant and heading estimation method for self-driving vibratory roller","volume":"51","author":"Yao","year":"2018","journal-title":"IFAC-PapersOnLine"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"04021099","DOI":"10.1061\/(ASCE)CO.1943-7862.0002115","article-title":"Compaction Quality Evaluation of Asphalt Pavement Based on Intelligent Compaction Technology","volume":"147","author":"Chen","year":"2021","journal-title":"J. Constr. Eng. Manag."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"124125","DOI":"10.1016\/j.conbuildmat.2021.124125","article-title":"Improving asphalt pavement intelligent compaction based on differentiated compaction curves","volume":"301","author":"Polaczyk","year":"2021","journal-title":"Constr. Build. Mater."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Wang, J., Wang, T., and Pan, F. (2020, January 14\u201316). Development of unmanned roller and its application in highway engineering. Proceedings of the 20th COTA International Conference of Transportation Professionals, Xi\u2019an, China.","DOI":"10.1061\/9780784483053.133"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"103246","DOI":"10.1016\/j.autcon.2020.103246","article-title":"Intelligent rolling compaction system for earth-rock dams","volume":"116","author":"Zhang","year":"2020","journal-title":"Automat. Constr."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"04022046","DOI":"10.1061\/(ASCE)CO.1943-7862.0002267","article-title":"Accelerated earth-rockfill dam compaction by collaborative operation of unmanned roller fleet","volume":"148","author":"Shi","year":"2022","journal-title":"J. Constr. Eng. Manag."},{"key":"ref_7","first-page":"1830","article-title":"Automatic rolling control for unmanned vibratory roller based on fuzzy algorithm","volume":"45","author":"Bian","year":"2017","journal-title":"J. Tongji Univ. Nat. Sci."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"323","DOI":"10.1016\/j.conbuildmat.2019.05.122","article-title":"Towards smart compaction: Particle movement characteristics from laboratory to the field","volume":"218","author":"Wang","year":"2019","journal-title":"Constr. Build. Mater."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1016\/j.autcon.2019.01.004","article-title":"Unmanned rolling compaction system for rockfill materials","volume":"100","author":"Zhang","year":"2019","journal-title":"Automat. Constr."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Forster, C., Pizzoli, M., and Scaramuzza, D. (June, January 31). SVO: Fast semi-direct monocular visual odometry. Proceedings of the 2014 IEEE International Conference on Robotics and Automation, Hong Kong, China.","DOI":"10.1109\/ICRA.2014.6906584"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1109\/TRO.2016.2623335","article-title":"SVO: Semidirect visual odometry for monocular and multicamera systems","volume":"33","author":"Forster","year":"2016","journal-title":"IEEE Trans. Robot."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","article-title":"ORB-SLAM: A versatile and accurate monocular SLAM system","volume":"31","author":"Montiel","year":"2015","journal-title":"IEEE Trans. Robot."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"117734","DOI":"10.1016\/j.eswa.2022.117734","article-title":"A survey of state-of-the-art on visual SLAM","volume":"205","author":"Kazerouni","year":"2022","journal-title":"Expert Syst. Appl."},{"key":"ref_14","unstructured":"Zhang, X., Lu, G., Fu, G., Xu, D., and Lin, S. (2019, January 27\u201330). SLAM Algorithm Analysis of Mobile Robot Based on Lidar. Proceedings of the 2019 Chinese Control Conference, Guangzhou, China."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1687814018773660","DOI":"10.1177\/1687814018773660","article-title":"Development of a path following control model for an unmanned vibratory roller in vibration compaction","volume":"10","author":"Fang","year":"2018","journal-title":"Adv. Mech. Eng."},{"key":"ref_16","first-page":"5029","article-title":"The impact of attitude feedback on the control performance and energy consumption in the path-following of unmanned rollers","volume":"1","author":"Wei","year":"2020","journal-title":"SAE. Tech. Paper."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"18166","DOI":"10.1109\/JSEN.2021.3082579","article-title":"A High-Accuracy Indoor Localization System and Applications Based on Tightly Coupled UWB\/INS\/Floor Map Integration","volume":"21","author":"Wang","year":"2021","journal-title":"IEEE. Sens. J."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"23095","DOI":"10.3390\/s141223095","article-title":"A hybrid positioning strategy for vehicles in a tunnel based on RFID and in-vehicle sensors","volume":"14","author":"Song","year":"2014","journal-title":"Sensors"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Jiang, S., Wang, W., and Peng, P. (2023). A Single-Site Vehicle Positioning Method in the Rectangular Tunnel Environment. Remote Sens., 15.","DOI":"10.3390\/rs15020527"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"111900","DOI":"10.1016\/j.measurement.2022.111900","article-title":"An innovation gain-adaptive Kalman filter for unmanned vibratory roller positioning","volume":"203","author":"Gao","year":"2022","journal-title":"Measurement"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Sun, Y., and Xie, H. (2019, January 21\u201322). Lateral Positioning Method for Unmanned Roller Compactor Based on Visual Feature Extraction. Proceedings of the 2019 3rd Conference on Vehicle Control and Intelligence, Hefei, China.","DOI":"10.1109\/CVCI47823.2019.8951726"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Huang, H., Wang, X., Hu, Y., and Tan, P. (2023). Accuracy Analysis of Visual Odometer for Unmanned Rollers in Tunnels. Electronics, 12.","DOI":"10.3390\/electronics12204202"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","article-title":"Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras","volume":"33","year":"2017","journal-title":"IEEE Trans. Robot."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"611","DOI":"10.1109\/TPAMI.2017.2658577","article-title":"Direct sparse odometry","volume":"40","author":"Engel","year":"2017","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_25","unstructured":"Engel, J., Usenko, V., and Cremers, D. (2016). A photometrically calibrated benchmark for monocular visual odometry. arXiv."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Song, C., Zeng, B., Cheng, J., Wu, F., and Hao, F. (2024). PSMD-SLAM: Panoptic Segmentation-Aided Multi-Sensor Fusion Simultaneous Localization and Mapping in Dynamic Scenes. Appl. Sci., 14.","DOI":"10.3390\/app14093843"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Liu, Z., Li, Z., Liu, A., Shao, K., Guo, Q., and Wang, C. (2024). LVI-Fusion: A Robust Lidar-Visual-Inertial SLAM Scheme. Remote Sens., 16.","DOI":"10.3390\/rs16091524"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Kumar, G.A., Lee, J.H., Hwang, J., Park, J., Youn, S.H., and Kwon, S. (2020). LiDAR and camera fusion approach for object distance estimation in self-driving vehicles. Symmetry, 12.","DOI":"10.3390\/sym12020324"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"34157","DOI":"10.1007\/s11042-019-08232-6","article-title":"Improved object recognition results using SIFT and ORB feature detector","volume":"78","author":"Gupta","year":"2019","journal-title":"Multimed. Tools Appl."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Bay, H., Tuytelaars, T., and Van Gool, L. (2006, January 7\u201313). Surf: Speeded up robust features. Proceedings of the 9th European Conference on Computer Vision, Graz, Austria.","DOI":"10.1007\/11744023_32"},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Rublee, E., Rabaud, V., Konolige, K., and Bradski, G. (2011, January 6\u201313). ORB: An efficient alternative to SIFT or SURF. Proceedings of the 2011 International Conference on Computer Vision, Barcelona, Spain.","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Jakubovi\u0107, A., and Velagi\u0107, J. (2018, January 16\u201319). Image feature matching and object detection using brute-force matchers. Proceedings of the 2018 International Symposium ELMAR, Zadar, Croatia.","DOI":"10.23919\/ELMAR.2018.8534641"},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Qader, W.A., Ameen, M.M., and Ahmed, B.I. (2019, January 23\u201325). An overview of bag of words; importance, implementation, applications, and challenges. Proceedings of the 2019 International Engineering Conference, Erbil, Iraq.","DOI":"10.1109\/IEC47844.2019.8950616"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Jaimez, M., Monroy, J.G., and Gonzalez-Jimenez, J. (2016, January 16\u201321). Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach. Proceedings of the 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden.","DOI":"10.1109\/ICRA.2016.7487647"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"495","DOI":"10.1007\/s10846-017-0718-z","article-title":"Fast and effective loop closure detection to improve SLAM performance","volume":"93","author":"Guclu","year":"2019","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"7896","DOI":"10.1109\/TITS.2021.3074520","article-title":"Loop-closure detection using local relative orientation matching","volume":"23","author":"Ma","year":"2021","journal-title":"IEEE Trans. Intell. Transp. Syst."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/24\/13\/4408\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T15:11:25Z","timestamp":1760109085000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/24\/13\/4408"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,7,7]]},"references-count":36,"journal-issue":{"issue":"13","published-online":{"date-parts":[[2024,7]]}},"alternative-id":["s24134408"],"URL":"https:\/\/doi.org\/10.3390\/s24134408","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,7,7]]}}}