摘要
针对变电站等复杂环境地图构建问题,分析对比了目前几种主流激光SLAM算法,以Cartographer SLAM作为研究基础,在此基础上提出了一种优化后的SLAM建图方案,该方法基于双2D激光雷达互相垂直的方法实现三维建图的新系统,具体实现是通过高精度校准方法标定两台2D激光仪的位姿关系,并对两组数据进行优化融合以获得高精度的三维数据,进而保证最终定位和建图的精度。用Ubuntu 16.04环境下进行了仿真和实验,实验结果表明上述方案具很好的有效性和可实施性。
For the map construction of complex environment,several mainstream SLAM algorithmsare compared,Cartographer SLAM was introduced as the research basis.An optimized SLAM mapping scheme is proposed,which is a new system based on dual 2D laser radar vertical to each other for 3D mapping.Using robot operating system,the precise calibration method is used to calibrate the position and posture relationship of dual 2D laser radar,and optimize the fusion of the two sets of data to obtain high-precision 3D data,and the accuracy of final positioning and mapping can be obtained.The simulation and experiment are carried out in Ubuntu 16.04 environment,the results demonstrate the effectiveness and feasibility of the method.
作者
尹政
吕英俊
吕嘉男
YIN Zheng;LüYingjun;LüJianan(College of Electrical Engineering and Automation,Shandong University of Science and Technology,Qingdao,Shandong 266590,China;Department of Electrical Engineering and Information Technology,Shandong University of Science and Technology,Jinan,Shandong 250031,China;China Mobile Jiangsu Co.,Ltd.Huai′an branch,Huai′an,Jiangsu 223021,China)
出处
《山东科技大学学报（自然科学版）》
CAS
北大核心
2020年第2期126-132,共7页
Journal of Shandong University of Science and Technology(Natural Science)
基金
国家自然科学基金项目(61873332,61633014,61773245,61603068)
山东省自然科学基金项目(ZR2018ZC0436)
