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The precise localization of an underground mine environment is key to achieving unmanned and intelligent underground mining. However, in an underground environment, GPS is unavailable, there are variable and often poor lighting conditions, there is visual aliasing in long tunnels, and the occurrence of airborne dust and water, presenting great difficulty for localization. We demonstrate a high-precision, real-time, without-infrastructure underground localization method based on 3D LIDAR. The underground mine environment map was construc
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