基于激光雷达/卫星融合的点云构图实验教学平台开发

Experimental teaching platform development of point cloud composition based on LiDAR/satellite fusion

搭建了一种基于激光雷达/卫星融合的点云构图实验教学平台,包括基于Airsim的虚拟仿真平台与基于无人车的物理平台。在虚拟仿真平台中,完成了Linux操作系统下的仿真场景搭建,以及激光雷达点云、卫星导航数据仿真;在物理平台中,搭建了包含激光雷达、卫星传感器的无人车实验系统。在上述两类平台基础上,实现了激光雷达和卫星的数据采集、点云分割、特征提取、激光雷达里程计以及激光雷达/卫星融合软件设计。经测试,两类平台均能有效构建场景的高精度点云地图,有助于增强学生的实践动手能力及知识应用能力,取得了良好的教学效果。

A LiDAR/satellite fusion-based point cloud composition experimental teaching platform was built,including an Airsim-based virtual simulation platform and an unmanned vehicle-based physical platform.In the virtual simulation platform,the simulation scene under Linux operating system and the simulation of LiDAR point cloud and satellite navigation data were completed.In the physical platform,an unmanned vehicle containing LiDAR and satellite sensors was built.On the basis of the above two kinds of platforms,data acquisition,point cloud segmentation,feature extraction,LiDAR odometry,and LiDAR/satellite fusion software design were realized.After testing,both types of platforms can effectively construct high-precision point cloud maps of scenes,which helps to enhance students'practical ability as well as knowledge application ability,and has achieved good teaching results.