摘要
同步定位与建图(SLAM)技术是自主移动机器人的主要技术支撑,成为当今的研究热点。介绍了SLAM技术的发展历程及主要传感器,梳理了基于视觉、激光雷达以及多传感器融合的SLAM技术,并对常见的SLAM算法进行归纳总结,对比分析各实现方案的优缺点。最后探讨了SLAM的技术难题和发展趋势。
Simultaneous Localization and Mapping(SLAM) technology is the main technical support of autonomous mobile robot and has become a research hotspot today.The development history and main sensors of SLAM technology are introduced, then the SLAM technology based on vision,lidar and multi-sensor fusion is sorted out,and the common SLAM algorithms are summarized.The advantages and disadvantages of each implementation scheme are compared and analyzed.Finally,the technical problems and development trends of SLAM are discussed.
作者
马志艳
邵长松
杨光友
李辉
MA Zhiyan;SHAO Changsong;YANG Guangyou;LI Hui(Hubei University of Technology,Wuhan 430000,China;Hubei Province Agricultural MachineryEquipment Intelligent Engineering Technology Research Center,Wuhan 430000,China)
出处
《电光与控制》
CSCD
北大核心
2023年第3期78-85,106,共9页
Electronics Optics & Control
基金
湖北省技术创新重大项目(2017ABA164)。
