Technology of Graphic & Image
|
App. Res. of Comp. Printed Article
Vol. 36, 2019 No. 12
3874-3877

Map-building algorithm for non-echo region of LiDAR

Zhang Guoqiang1,2
Han Jun1,2
Chen Fangjie1,2
Wang Zuwu1,2
Cheng Jianlian1,2
1. School of Communication & Information Engineering, Shanghai University, Shanghai 200444, China
2. Shanghai Institute of Advanced Communications & Data Science, Shanghai 200444, China
DOI: 10.19734/j.issn.1001-3695.2018.08.0603

Abstract

In many scenes, there is no-echo region in the LiDAR measurement range, which makes the robot unable to build a complete map, which reduces the efficiency of the map and also causes inconvenience to navigation. In order to compensate the lack of laser SLAM to rely entirely on laser echo data mapping, clustering of laser information with echo regions and endpoint feature extraction of information classes to determine non-echo regions, this paper built a complete map by updating the grid occupancy probability of the area. With the help of robot operating system(ROS) practical tests, the verified results show that the algorithm can accurately complete the mapping task with no-echo region. When building the local corridor map(10 m×2.5 m), the algorithm saves 183.6 s, increases 56.7% of construction area, and the mapping error is less than 1.2%.

Foundation Support

国家自然科学基金资助项目(61471230)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2018.08.0603
Publish at: Application Research of Computers Printed Article, Vol. 36, 2019 No. 12
Section: Technology of Graphic & Image
Pages: 3874-3877
Serial Number: 1001-3695(2019)12-078-3874-04

Publish History

[2019-12-05] Printed Article

Cite This Article

张国强, 韩军, 陈方杰, 等. 一种在激光雷达无回波区域的地图构建算法 [J]. 计算机应用研究, 2019, 36 (12): 3874-3877. (Zhang Guoqiang, Han Jun, Chen Fangjie, et al. Map-building algorithm for non-echo region of LiDAR [J]. Application Research of Computers, 2019, 36 (12): 3874-3877. )

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  • Application Research of Computers Monthly Journal
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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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