井下车辆同步定位与地图构建方法、系统和介质

By fusing LiDAR and IMU data, the problem of synchronous localization and map building in the autonomous driving of underground vehicles was solved, achieving high-precision underground vehicle localization and map building, and improving robustness and real-time performance.

CN116734827BActive Publication Date: 2026-07-17TIANDI CHANGZHOU AUTOMATION +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
TIANDI CHANGZHOU AUTOMATION
Filing Date
2023-04-12
Publication Date
2026-07-17

AI Technical Summary

Technical Problem

Existing positioning methods are not applicable to autonomous driving of underground vehicles and cannot achieve simultaneous positioning and map building.

Method used

LiDAR data is acquired by a LiDAR device and processed in conjunction with IMU odometry data to obtain point cloud scene features and current attitude information. Joint calibration and optimization are then performed to construct a high-precision map.

Benefits of technology

It achieves high-precision synchronous positioning and map building for underground vehicles, which is suitable for autonomous driving, improves robustness and real-time performance, and reduces costs.

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Abstract

本发明涉及无人驾驶地图实时构建技术领域，尤其涉及一种井下车辆同步定位与地图构建方法及系统，方法包括：S1，通过激光雷达装置获取激光雷达数据，对激光雷达数据进行处理，得到点云场景特征；S2，通过IMU里程计获取IMU数据，对IMU数据进行处理，得到当前姿态信息；S3，对点云场景特征和当前姿态信息进行联合标定，并统一坐标；S4，结合点云场景特征和当前姿态信息进行联合优化，获取车辆的运动轨迹；S5，根据运动轨迹对点云地图更新，构建高精度地图，本发明的井下车辆同步定位与地图构建方法，用于井下车辆自动驾驶，能够实现同步定位与地图构建，且构建的地图质量好。
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