A LiDAR-Aided Inertial Positioning Approach for a Longwall Shearer in Underground Coal Mining

Figure 7

Position and attitude errors under different selection methods of point features: shearer (a) position and (b) attitude errors under different direction relationship modes; shearer (c) position and (d) attitude errors under different numbers of point features; shearer (e) position and (f) attitude errors under different minimum distances.

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