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Outdoor three-dimensional synchronous positioning and mapping method based on laser radar

A lidar, synchronous positioning technology, applied in image enhancement, image analysis, image data processing and other directions, can solve problems such as application limitations and limited measurement accuracy of vision sensors, and achieve the effect of improving matching accuracy and optimizing global map construction

Active Publication Date: 2021-05-07
FUZHOU UNIVERSITY
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, technologies based on visual sensors and laser sensors have been greatly developed, but due to the limitation of ambient light conditions and measurement accuracy of visual sensors, the application in outdoor environments is limited.

Method used

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  • Outdoor three-dimensional synchronous positioning and mapping method based on laser radar
  • Outdoor three-dimensional synchronous positioning and mapping method based on laser radar
  • Outdoor three-dimensional synchronous positioning and mapping method based on laser radar

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Embodiment Construction

[0091] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0092] It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0093] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combina...

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Abstract

The invention provides an outdoor three-dimensional synchronous positioning and mapping method based on a laser radar. The outdoor three-dimensional synchronous positioning and mapping method comprises the following steps: acquiring complete point cloud data of a surrounding environment by using the laser radar; preprocessing the point cloud data, removing outliers, performing ground segmentation, and extracting a ground point set; extracting edge feature points and plane feature points from the ground point set and the non-ground point set respectively; by using the extracted edge feature points and plane feature points, through point-to-sideline and point-to-plane scanning matching, establishing correlation of point cloud data between two adjacent scans, and completing motion estimation; matching the extracted edge feature points and plane feature points to a surrounding point cloud picture, and further optimizing pose transformation; the accumulated drift error is reduced by using a loopback detection algorithm, and pose estimation and map construction are realized. According to the method, mapping with higher accuracy and higher robustness can be realized.

Description

technical field [0001] The invention relates to the technical field of three-dimensional SLAM of mobile robots, in particular to an outdoor three-dimensional synchronous positioning and mapping method based on laser radar. Background technique [0002] In recent years, with the rapid development of robotics technology, robots are gradually becoming fully autonomous, and simultaneous positioning and mapping is one of the key technologies for robots to truly achieve complete autonomy. In the field of mobile robots, how to achieve good perception of the environment is one of the key factors that determine whether mobile robots can be widely used in practical problems. Commonly used environmental perception sensors mainly include cameras, lidar, and sonar, among which cameras and lidar are the two most widely used types of sensors. At present, technologies based on vision sensors and laser sensors have been greatly developed, but because vision sensors are limited by ambient li...

Claims

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Application Information

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IPC IPC(8): G06T7/73G01S17/89
CPCG06T7/74G01S17/89G06T2207/10028G06T2207/30252
Inventor 张立伟朱富伟刘宸希何炳蔚
Owner FUZHOU UNIVERSITY
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