Laser radar mapping method, device in indoor scene, and equipment and medium

A technology for lidar and indoor scenes, which is applied in the field of indoor modeling and can solve problems such as low mapping accuracy

Inactive Publication Date: 2019-12-10
LAUNCH TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the purpose of this application is to provide a lidar mapping method, device, equi

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  • Laser radar mapping method, device in indoor scene, and equipment and medium
  • Laser radar mapping method, device in indoor scene, and equipment and medium
  • Laser radar mapping method, device in indoor scene, and equipment and medium

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Embodiment Construction

[0082] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0083]In the prior art, laser SLAM (simultaneous localization and mapping real-time positioning and map construction, or concurrent mapping and positioning) technology is divided into two parts: front-end map construction and back-end map optimization;

[0084] The front end is responsible for the feature extraction and screening of the laser point cloud; the ICP (Iterative Closest Point iterative closest point) matching of the two frames before and after obtains the position and att...

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Abstract

The invention discloses a laser radar mapping method in an indoor scene. Parameters of all positions of a vehicle are collected, calculated and corrected through UWB and a laser radar odometer. The indoor positioning precision of the UWB positioning technology is not reduced along with the increase of time, the UWB positioning technology has the characteristics of being high in positioning precision, good in reliability, not prone to divergence and the like, but the positioning continuity of data is poor, the error of the attitude and position precision of the laser odometer is gradually increased along with the increase of time, and the positioning continuity is good. The UWB positioning technology is high in positioning precision, so that the positioning precision of the laser odometer can be remarkably improved through image optimization and fusion of the UWB positioning technology and the laser odometer, and then the indoor mapping precision is improved. In addition, the inventionalso provides a laser radar mapping device in an indoor scene , and equipment and a computer scale storage medium, which have the above beneficial effects.

Description

technical field [0001] The present application relates to the technical field of indoor modeling, and in particular to a lidar mapping method, device, equipment and computer-readable storage medium in an indoor scene. Background technique [0002] The indoor high-precision point cloud model can be used for indoor robot navigation, indoor virtual reality simulation, and modeling of large indoor ancient buildings. The construction of indoor high-precision point cloud models currently uses indoor carts or remote control cars and other vehicles equipped with lidar to collect laser point clouds to build maps. In order to reduce the divergence error of the laser odometer, it is generally necessary for the vehicle's walking route to be repeated for loop closure detection and loop closure constraints, while the repetition of the driving route limits the driving range of the indoor robot (vehicle) and increases the mapping time, and there are There is an error probability in the det...

Claims

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Application Information

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IPC IPC(8): G01S17/02G01C21/16G01S5/02
CPCG01C21/165G01S5/02
Inventor 刘新陈明兰飞闫朝国
Owner LAUNCH TECH CO LTD
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