摘要
移动机器人同时定位与地图构建(Simultaneous Localization and Mapping,SLAM)是近年研究热点。介绍了常用的卡尔曼滤波SLAM、图优化SLAM原理和基础理论,阐述卡尔曼滤波SLAM、图优化SLAM关键技术及研究进展,并对机器人SLAM未来研究进行了展望。
Simultaneous Localization and Mapping(Simultaneous Localization and Mapping,SLAM)for mobile robots is a hot topic in recent years.This paper mainly introduces the principle and basic theory of Kalman filter SLAM and graph optimization SLAM,summarizes the key technologies and research progress of Kalman filter SLAM and graph optimization SLAM,and prospects the future research of robot SLAM.
作者
张国荣
王志亮
赵振栋
王明涛
张心印
ZHANG Guo-rong;WANG Zhi-liang;ZHAO Zhen-dong;WANG Ming-tao(College of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China)
出处
《软件导刊》
2019年第10期5-7,22,共4页
Software Guide
基金
教育部人文社会科学研究青年基金项目(18YJCZH032)
