基于三维激光扫描仪的室内移动设备定位与建图

Localization and Mapping Indoor for Mobile Devices Based on Three-dimensional Scanner

论文采用惯导与里程计组合辅助点云配准的方式实现了室内环境下移动设备的定位与地图建立,克服了自主研制的三维扫描仪数据更新频率低的缺点。首先,采用惯导与里程计组合完成移动设备的姿态测量与航位推算;然后,将航位推算的结果作为点云配准的初始值,之后采用基于正态分布变换的点云配准算法完成点云的顺序配准;最后,根据点云配准结果修正航位推算的定位结果,并在此基础上完成定位与建图。论文以轮式小车为实验平台,搭载自制的三维激光扫描仪,在楼道环境中验证了文中所述方法的有效性。

In this paper,a solution is proposed to locate and map for mobile devices indoor by registration point cloud assisted with INS and odometer,it overcomes the shortcomings of the three-dimensional scanner＇s low data updating rate.First,the INS and odometer measure are used to accomplish mobile device＇s attitude and dead reckoning,then normal distribution transform（NDT）algorithm is applied to point cloud registration,as the initial value is the result of dead reckoning.Finally,the point cloud registration correction dead reckoning,and accomplish the localization and mapping.The effectiveness of the method described in the paper is demonstnated in a corridor,which using the wheeled trolley equipped with a three-dimensional laser scanner.