Air-ground heterogeneous cluster real-time mapping method and device for large-scale complex scene

Abstract

The invention discloses an air-ground heterogeneous cluster real-time mapping method and device for a large-scale complex scene, and the method aims at solving the problems of poor real-time performance, insufficient consistency and the like of an existing method, employs a stable triangular descriptor as a global descriptor of a laser radar key frame, carries out the loopback detection based on the key frame, and achieves the real-time mapping of an air-ground heterogeneous cluster. According to the method, a relative pose constraint relation between key frames of different carriers is established, and then the key frames of all the carriers are brought into the same pose map optimization for pose solution, so that a global consistent track and point cloud map is obtained, and efficient fusion of a multi-machine map is realized. According to the method, the phenomena of ghosting and structure distortion in the conventional map fusion can be effectively solved, and the mapping consistency and the mapping precision are improved.

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