Indoor planimetric map making method based on laser ranging
A technology of laser distance measurement and plane map, which is applied in the directions of measuring distance, measuring device, line-of-sight measurement, etc. It can solve the problems not involved in indoor map making methods, etc., and achieve the effect of solving the bottleneck of drawing efficiency, simple operation and fast processing speed
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[0038] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0039] The concrete steps of the present invention see figure 1 ,include:
[0040] Step 1, data collection.
[0041] The mapping data is collected using a sensor platform consisting of a horizontally placed IMU (inertial measurement unit) and a LiDAR sensor powered by a battery and connected to a computer. The sensor platform is placed on a moving carrier such as a trolley or a mobile robot.
[0042] When collecting data, start the sensor platform, let it stand for 3-5 minutes, and use the LiDAR sensor to scan horizontally to collect indoor environment point clouds, so that IMU zero offset correction can be performed later to improve positioning accuracy. Then, move the moving carrier freely in the indoor environment. When moving, it should drive as smoothly as possible and avoid high-density moving people and obje...
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