The acceleration of urbanization gives rise to utilization demands on tunnel projects,while the photophobic characteristics of tunnel structures render most conventional detection methods ineffective.To address this,the present paper proposes a direct method of 3D laser odometry tailored for tunnel surveying.By integrating the adaptive iterative clo-sest point (ICP)algorithm,this system effectively processes complex spatial data within tunnels,achieving high-precision pose estimation.The direct odometry extracts pose information directly from the acquired laser point cloud data,thus a-voiding data loss typically associated with conventional feature extraction processes.In the experimental section,data col-lected via a track vehicle within the tunnel enabled accurate pose estimation and high-precision mapping in complex tunnel environments.The application of this technology not only enhances the efficiency of tunnel inspection and maintenance but also provides an effective solution for high-precision pose estimation in challenging environments such as tunnels,offering broad application prospects and practical value.
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