基于闭环检测的三维点云地图创建

3D point cloud mapping based on closed-loop detection

提出了一种基于闭环检测的适用于室外三维点云地图创建的方法,该方法具有高分辨率、低误差的优点。在公共数据集和室外真实环境下进行了三维点云建图实验。实验结果表明:建图分辨率达到了0.05 m且平均误差率在0.44%以内,具有良好的可行性和准确性,能够为自动驾驶等相关领域提供精确可靠的数据来源。

Aiming at this problem,a method based on closed-loop detection for outdoor 3 D point cloud map creation is proposed,3 D point cloud construction experiment in public dataset and outdoor real environment is performed.The experimental results show that the method achieves resolution of mapping reach 0.05 m,and the average error rate is within 0.44%.It has good feasibility and accuracy,it can provide accurate and reliable source of data for self-driving.