Laser SLAM positioning system and method based on deep learning
A technology of deep learning and positioning system, applied in neural learning methods, radio wave measurement systems, electromagnetic wave re-radiation, etc., can solve the problems of low positioning accuracy and high complexity of laser SLAM, achieve low complexity and improve robustness Good performance and robustness
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[0024] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0025] Such as figure 1 As shown, a deep learning-based laser SLAM positioning system and method of the present embodiment include an embedded computing platform, a multi-line laser radar and a robot mobile platform, which mainly include four modules (laser frame preprocessing, laser odometer , laser mapping and loopback detection), the modules are decoupled from each other and have high stability, and finally can achieve high-precision positioning, specifically:
[0026] Step 1: The laser frame preprocessing module divides the input point cloud data into inseparable ground points and other segmentation points. For the ground point detection, the conditional screening method is used. Firstly, the height range point filtering is performed according to the...
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