《计算机应用研究》|Application Research of Computers

基于激光雷达的同时定位与地图构建方法综述

Survey of LiDAR-based SLAM algorithm

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作者 危双丰,庞帆,刘振彬,师现杰
机构 1.北京建筑大学 测绘与城市空间信息学院,北京 102616;2.代表性建筑与古建筑数据库教育部工程中心,北京 102616;3.现代城市测绘国家测绘地理信息局重点实验室,北京 102616;4.建筑遗产精细重构与健康监测北京市重点实验室,北京 102616
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文章编号 1001-3695(2020)02-002-0327-06
DOI 10.19734/j.issn.1001-3695.2018.09.0674
摘要 首先分解激光SLAM的基本框架,分别对前端扫描匹配、后端优化、闭环检测与验证、地图构建四个模块近年来的主流算法进行总结;然后对基于滤波器和基于图优化两种激光SLAM框架下的代表性方案进行深入分析和比较;最后对激光SLAM的发展趋势进行展望。
关键词 激光雷达同时定位与建图; 扫描匹配; 后端优化; 闭环检测与验证; 地图构建
基金项目 国家自然科学基金资助项目(41601409)
北京市自然科学基金资助项目(8172016)
北京建筑大学市属高校基本科研业务费专项资金资助项目(X18229)
北京建筑大学研究生创新项目(PG2018066,PG2019065,PG2019061)
本文URL http://www.arocmag.com/article/01-2020-02-002.html
英文标题 Survey of LiDAR-based SLAM algorithm
作者英文名 Wei Shuangfeng, Pang Fan, Liu Zhenbin, Shi Xianjie
机构英文名 1.School of Geomatics & Urban Spatial Informatics,Beijing University of Civil Engineering & Architecture,Beijing 102616,China;2.Engineering Research Center of Representative Building & Architectural Heritage Database for Ministry of Education,Beijing 102616,China;3.Key Laboratory for Urban Geomatics of National Administration of Surveying,Mapping & Geoinformation,Beijing 102616,China;4.Beijing Key Laboratory for Architectural Heritage Fine Reconstruction & Health Monitoring,Beijing 102616,China
英文摘要 This paper, firstly, decomposed the basic framework of SLAM based on laser and summarized the mainstream algorithms of four modules from the angle of front-end scan match, back-end optimization, the closed loop detection and validation, and map generation; Then it analyzed and compared the representation scheme under two framework of SLAM, one was based on filter and the other was based on graph optimization; Finally, the paper point out the development trend of laser based SLAM.
英文关键词 laser SLAM; scan matching; back-end optimization; closed loop detection and verification; mapping
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收稿日期 2018/9/13
修回日期 2018/11/5
页码 327-332
中图分类号 TP391.4
文献标志码 A