基于子地图的智能车辆同步定位与地图创建

A Sub-map-based Simultaneous Localization and Mapping Technique for Intelligent Vehicles

为使智能车辆能在无法预先确定环境范围的条件下创建环境栅格地图并实时定位,提出了一种基于子地图框架的同步定位与地图创建方法。在子地图中设置重合区域与切换区域,以避免相邻子地图间的连续切换。实验结果表明,该方法可保证车辆在同步定位与地图创建过程中地图范围的动态增长和子地图间的稳定切换,具有较高的实时性和定位精度。

For enabling intelligent vehicle to create environmental grid map and achieve real-time positio- ning in a condition with unpredictable environment scope, a simultaneous localization and mapping （SLAM） tech- nique base on sub-map frame is proposed. The overlapped zones and switching zones are set in sub-maps to avoid endless successive switching of adjacent sub-maps. The results of experiment show that the technique proposed can ensure the dynamic growth of map scope and stable switching between sub-maps in SLAM process of vehicle.