同步定位与建图(Simultaneous Localization and Mapping,SLAM)技术可使自动驾驶车辆在未知环境中根据车载传感器采集到的数据估计自身位姿,建立环境地图,为车辆的规划、决策提供定位信息,是近年来自动驾驶技术研究的热点之一。基于车...同步定位与建图(Simultaneous Localization and Mapping,SLAM)技术可使自动驾驶车辆在未知环境中根据车载传感器采集到的数据估计自身位姿,建立环境地图,为车辆的规划、决策提供定位信息,是近年来自动驾驶技术研究的热点之一。基于车载激光雷达的点云数据,聚焦SLAM技术在自动驾驶领域的应用,围绕前端里程计、后端优化和回环检测技术,对国内外相关研究进行综述。考虑到单一传感器的局限性,结合目前多传感器融合研究的热点与难点,展望了自动驾驶多传感器融合SLAM技术在自动驾驶领域的机遇与挑战。展开更多
Positioning and mapping technology is a difficult and hot topic in autonomous driving environment sensing systems.In a complex traffic environment,the signal of the Global Navigation Satellite System(GNSS)will be bloc...Positioning and mapping technology is a difficult and hot topic in autonomous driving environment sensing systems.In a complex traffic environment,the signal of the Global Navigation Satellite System(GNSS)will be blocked,leading to inaccurate vehicle positioning.To ensure the security of automatic electric campus vehicles,this study is based on the Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain(LEGO-LOAM)algorithm with a monocular vision system added.An algorithm framework based on Lidar-IMU-Camera(Lidar means light detection and ranging)fusion was proposed.A lightweight monocular vision odometer model was used,and the LEGO-LOAM system was employed to initialize monocular vision.The visual odometer information was taken as the initial value of the laser odometer.At the back-end opti9mization phase error state,the Kalman filtering fusion algorithm was employed to fuse the visual odometer and LEGO-LOAM system for positioning.The visual word bag model was applied to perform loopback detection.Taking the test results into account,the laser radar loopback detection was further optimized,reducing the accumulated positioning error.The real car experiment results showed that our algorithm could improve the mapping quality and positioning accuracy in the campus environment.The Lidar-IMU-Camera algorithm framework was verified on the Hong Kong city dataset UrbanNav.Compared with the LEGO-LOAM algorithm,the results show that the proposed algorithm can effectively reduce map drift,improve map resolution,and output more accurate driving trajectory information.展开更多
文摘同步定位与建图(Simultaneous Localization and Mapping,SLAM)技术可使自动驾驶车辆在未知环境中根据车载传感器采集到的数据估计自身位姿,建立环境地图,为车辆的规划、决策提供定位信息,是近年来自动驾驶技术研究的热点之一。基于车载激光雷达的点云数据,聚焦SLAM技术在自动驾驶领域的应用,围绕前端里程计、后端优化和回环检测技术,对国内外相关研究进行综述。考虑到单一传感器的局限性,结合目前多传感器融合研究的热点与难点,展望了自动驾驶多传感器融合SLAM技术在自动驾驶领域的机遇与挑战。
基金supported by the National Natural Science Foundation of China(Grant Nos.51975088 and 51975089).
文摘Positioning and mapping technology is a difficult and hot topic in autonomous driving environment sensing systems.In a complex traffic environment,the signal of the Global Navigation Satellite System(GNSS)will be blocked,leading to inaccurate vehicle positioning.To ensure the security of automatic electric campus vehicles,this study is based on the Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain(LEGO-LOAM)algorithm with a monocular vision system added.An algorithm framework based on Lidar-IMU-Camera(Lidar means light detection and ranging)fusion was proposed.A lightweight monocular vision odometer model was used,and the LEGO-LOAM system was employed to initialize monocular vision.The visual odometer information was taken as the initial value of the laser odometer.At the back-end opti9mization phase error state,the Kalman filtering fusion algorithm was employed to fuse the visual odometer and LEGO-LOAM system for positioning.The visual word bag model was applied to perform loopback detection.Taking the test results into account,the laser radar loopback detection was further optimized,reducing the accumulated positioning error.The real car experiment results showed that our algorithm could improve the mapping quality and positioning accuracy in the campus environment.The Lidar-IMU-Camera algorithm framework was verified on the Hong Kong city dataset UrbanNav.Compared with the LEGO-LOAM algorithm,the results show that the proposed algorithm can effectively reduce map drift,improve map resolution,and output more accurate driving trajectory information.
