地下矿山激光SLAM技术定量精度评定方法

Quantitative accuracy evaluation method of laser SLAM technology in underground mines

针对目前地下矿山领域缺少激光SLAM技术定量精度评定方法的现状,从激光SLAM技术的定位和建图两个方面进行误差分析,提出三种定量精度评定方案,将端到端定位误差、相对距离误差和绝对点位误差作为精度评测指标。结合自研井下无人机载三维激光扫描测量系统和典型测试场景,对精度评价方案进行实测。测试结果表明,该激光SLAM系统具有厘米级的建图精度,激光SLAM技术定量精度评定方案可为学术研究和工程实践提供参考。

Due to the present situation that the lack of quantitative accuracy evaluation method of laser SLAM technology in the field of underground mines.This paper analyzes the error from two aspects of positioning and mapping of laser SLAM technology,three quantitative accuracy evaluation methods are proposed,which select end-to-end positioning error,relative distance error,and absolute point position error as accuracy evaluation indexes.Combined the self-developed underground UAV 3D laser scanning system and typical test scenarios to test the accuracy of evaluation methods.The test results show that this laser SLAM system has centimeter-level mapping accuracy.Therefore,the quantitative accuracy evaluation methods of laser SLAM technology in the field of underground mines are given,which can provide references for academic research and engineering practice.