激光扫描匹配方法研究综述

A survey of laser scan matching methods

激光扫描匹配是利用激光雷达进行导航、定位与地图构建的基础,本文对各类激光扫描匹配方法进行了综述。将现有方法归纳为基于点的扫描匹配方法、基于特征的扫描匹配方法和基于数学特性的扫描匹配方法 3类,系统总结了相应类型的常见方法;对典型的算法及其改进算法进行了梳理,并指出了存在的主要问题和发展趋势;介绍了激光扫描匹配方法性能评价和对比的最新研究进展,最后,展望了激光扫描匹配技术未来的研究方向。

Laser scan matching is a foundation for navigation,localization and mapping using Light Detection and Ranging(LiDAR).Various laser scan matching methods are reviewed in detail in this paper.The existing methods are divided into three categories:point-based scan matching method,feature-based scan matching method and mathematical property-based scan matching method,and the common algorithms of corresponding categories are summarized systematically.The typical algorithms and their improved algorithms are outlined,the main issues and development trends are discussed.Then,the latest research progress of performance evaluation and comparison of laser scan matching methods is introduced.Finally,the future research directions of laser scan matching technology are prospected.