摘要
即时定位与地图构建是移动机器人自主导航的关键技术,利用单一激光雷达提取的原始特征点云求解帧间运动会产生位姿估计失准。将IMU预积分信息通过线性插值的方法对失真激光点云进行运动补偿,矫正移动机器人自身位姿;采用基于线面特征的点云提取与匹配,提高定位精度;增加回环检测模块,利用ICP算法对存在回环的两关键帧建立约束,以减少系统长期运行造成的累计误差;构建整体代价函数,对全局系统误差进行优化。回环检测插值算法降低了位姿估计失准对系统性能的影响,提高了移动机器人的定位精度,绝对位姿误差更小,保证了构建地图的全局一致性。
Simultaneous localization and mapping(SLAM)is the key technology for autonomous navigation of mobile robots.Using the original feature point cloud extracted by a single LiDAR to solve interframe motion can cause inaccurate pose estimation.To solve this problem,the IMU pre-integration information is used to compensate the motion of the distorted point cloud through linear interpolation to correct the pose of the mobile robot,point cloud extraction and matching based on line and surface features used to improve the positioning accuracy.By adding loopback detection module,ICP algorithm is used to establish constraints on the two key frames with loopback,so as to reduce the cumulative error caused by the long-time operation of the system.An overall cost function is built to optimize the global system error.This method reduces the impact of inaccurate pose estimation on the system performance,improves the positioning accuracy of mobile robots,reduces the absolute pose errors,ensuring the global consistency of the map construction.
作者
李洋
程广伟
樊顺涛
郭占正
徐立友
LI Yang;CHENG Guangwei;FAN Shuntao;GUO Zhanzheng;XU Liyou(College of Vehicle and Traffic Engineering,Henan University of Science and Technology,Luoyang 471003,China;School of Intelligent Manufacturing,Luoyang Institute of Science and Technology,Luoyang 471023,China)
出处
《洛阳理工学院学报（自然科学版）》
2023年第4期45-52,共8页
Journal of Luoyang Institute of Science and Technology：Natural Science Edition
基金
国家重点研发计划项目(2019YFB1312101)
河南省科技攻关计划项目(232102240022).
