无人驾驶汽车三维同步定位与建图精度评估

Accuracy Evaluation of 3D SLAM of Driverless Vehicle

为了保证无人驾驶汽车环境感知系统的准确性和稳定性,有必要对汽车定位的准确性进行评估。针对这一需求,对无人驾驶汽车三维同步定位与建图精度进行评估。借助开源机器人操作系统,在汽车上配备激光雷达和差分全球定位系统,采用激光雷达基于激光雷达测距与建图算法进行三维同步定位与建图,并采用差分全球定位系统对三维同步定位与建图的精度进行评估。给出了激光雷达测距与建图算法的原理,搭建了试验平台,并进行了评估试验。

In order to ensure the accuracy and stability of the environment-aware system in the driverless vehicle,it is necessary to evaluate the accuracy of the vehicle positioning.In response to this demand,the 3D SLAM accuracy of the driverless vehicle was evaluated.With the open source robot operating system,laser radar and differential GPS was equipped in the vehicle,the laser radar was used for 3D SLAM based on LOAM algorithm,and the accuracy of 3D SLAM was evaluated by differential GPS.The principle of LOAM algorithm was given,the test platform was built,and the evaluation test was carried out.