人工智能背景下实现信息化测绘的方法研究

Research on Method of Information Surveying and Mapping Under Background of Artificial Intelligence

针对现有的信息化测绘系统勘测精度低、计算速度缓慢等问题,提出了一个新的信息化测绘系统,该系统结合了无人驾驶飞行器(unmanned aerial vehicle,UAV)和无人地面车辆(unmanned ground vehicle,UGV)在3D未知环境中进行自主探索、测绘和导航。该系统实现了一种新的两层探测策略,将感知任务分解为粗勘测层和细映射层。粗探测利用UGV进行快速自主探测和同步定位与绘图(simultaneous localization and mapping,SLAM),生成粗环境模型,为后续无人机进行互补3D精细绘图提供导航参考。两层共享一个新的优化探测路径规划和导航框架,该框架通过基于OctoMap的体运动规划接口提供最优探测路径和绘图工作。通过实验验证了该系统的有效性,为导航任务提供了优化感知。

Aiming at the problems of low survey accuracy and slow calculation speed of the existing information-based surveying and mapping system,a new information-based surveying and mapping system is proposed,which combines unmanned aerial vehicle(UAV)and unmanned ground vehicle(UGV)for autonomous exploration,mapping and navigation in 3D unknown environment.The system implements a new two-layer detection strategy,which decomposes the sensing task into coarse survey layer and fine mapping layer.Rough detection uses UGV for fast autonomous detection and simultaneous localization and mapping(SLAM)to generate rough environment model,which provides navigation reference for subsequent UAVs to carry out complementary 3D fine mapping.The two layers share a new optimal detection path planning and navigation framework,which provides the optimal detection path and mapping work through the OctoMap based body motion planning interface.The effectiveness of the system is verified by experiments,which provides optimal perception for navigation tasks.