摘要
GPS定位在室内或者室外的高楼附近会失效,而激光定位系统由于其精度高且鲁棒性强,因此成为首选的定位方案。搭建了基于回环检测的三维激光定位系统,它通过点云配准、激光里程计和激光建图这三个模块来计算激光的位姿,并且根据回环检测模块来消除累计误差,从而实现高精度的定位功能。真实环境实验证明,该系统可以有效地减少定位的累计误差。
In this paper,a 3D laser localization system based on loop detection is built.It calculates the pose of the laser through three modules of point cloud registration,laser odometry and laser mapping,and eliminates the cumulative error according to the loop detection module,which achieves high-precision localization.
出处
《工业控制计算机》
2019年第8期138-139,142,共3页
Industrial Control Computer
关键词
三维激光定位系统
点云配准
激光里程计
激光建图
回环检测
3D laser localization system
point cloud registration
laser odometry
laser mapping
loop detection
