Kun Hu

I am a third-year master student in Mechanical Engineering at the CoalMine Robot Lab, China University of Mining and Technology, advised by Prof. MengGang Li.

My research interests include LiDAR-Inertial Odometry and Multi-Sensor Fusion. I am particularly interested in leveraging UWB, LiDAR and Camera to achieve robust localization in extremely challenging environments.

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We propose a loosely coupled adaptive LiDAR-Inertial-Odometry named **Adaptive-LIO**, which incorporates adaptive segmentation to enhance mapping accuracy, adapts motion modality through IMU saturation and fault detection, and adjusts map resolution adaptively using multi-resolution voxel maps based on the distance from the LiDAR center.

This paper proposes a multimodal robust SLAM method based on wireless beacon-assisted geographic information transmission and lidar-IMU-UWB elastic fusion mechanism (LIU-SLAM). In order to obtain the pose estimation and scene models consistent with the geographic information, the construction of two kinds of absolute geographic information constraints based on UWB beacons is proposed.

To address critical challenges in underground infrastructure safety, this paper proposes an adaptive dynamic high-resolution scanning method employing a station-based device for deformation monitoring in coal mine sealing walls. By integrating LiDAR, inertial measurements, and encoder data, we developed a hierarchical processing framework comprising feature extraction, state estimation, and spatiotemporal registration of 3D pointclouds.

This project aims to create a model of a Load-Haul-Dump(LHD), perform modeling and simulation in Gazebo, and design corresponding modules for environmental perception, path planning, and path tracking control.

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