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。
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.
作者
危双丰
庞帆
刘振彬
师现杰
Wei Shuangfeng;Pang Fan;Liu Zhenbin;Shi Xianjie(School of Geomatics&Urban Spatial Informatics,Beijing University of Civil Engineering&Architecture,Beijing 102616,China;Engineering Research Center of Representative Building&Architectural Heritage Database for Ministry of Education,Beijing 102616,China;Key Laboratory for Urban Geomatics of National Administration of Surveying,Mapping&Geoinformation,Beijing 102616,China;Beijing Key Laboratory for Architectural Heritage Fine Reconstruction&Health Monitoring,Beijing 102616,China)
出处
《计算机应用研究》
CSCD
北大核心
2020年第2期327-332,共6页
Application Research of Computers
基金
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).
