适应于环境空间变化的激光雷达SLAM建图方法

doi:10.16182/j.issn1004731x.joss.22-0489

系统仿真学报 ›› 2023, Vol. 35 ›› Issue (8): 1788-1798.doi: 10.16182/j.issn1004731x.joss.22-0489

适应于环境空间变化的激光雷达SLAM建图方法

焦嵩鸣(), 姚鑫(), 丁辉, 钟宇飞

华北电力大学自动化系，河北保定 071003

收稿日期:2022-05-12 修回日期:2022-07-23 出版日期:2023-08-25 发布日期:2023-08-15
作者简介:
焦嵩鸣(1972-)，男，副教授，博士，研究方向为机器人智能感知及电力机器人自主巡检。E-mail：jiaosongming@ncepu.edu.cn

Lidar SLAM Mapping Method Adapted to Environmental Spatial Changes

Songming Jiao(), Xin Yao(), Hui Ding, Yufei Zhong

Department of Automation, North China Electric Power University, Baoding 071003, China

Received:2022-05-12 Revised:2022-07-23 Online:2023-08-25 Published:2023-08-15

摘要/Abstract

关键词: 机器视觉, 空间变化, 运动补偿, 自适应阈值, 地图构建

Key words: machine vision, spatial change, motion compensation, adaptive threshold, map building

焦嵩鸣, 姚鑫, 丁辉, 钟宇飞. 适应于环境空间变化的激光雷达SLAM建图方法[J]. 系统仿真学报, 2023, 35(8): 1788-1798.

Songming Jiao, Xin Yao, Hui Ding, Yufei Zhong. Lidar SLAM Mapping Method Adapted to Environmental Spatial Changes[J]. Journal of System Simulation, 2023, 35(8): 1788-1798.

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参考文献 19

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实验	算法	起点坐标	终点坐标	回环误差/m	路程/m	回环误差/%
1	lio-sam	(-3.93×10^-5, -2.22×10⁵, 5.29×10^-6)	(-0.063 2, 0.176 0, 0.413 0)	0.454 0	213.2	0.20
	Adp-lio-sam	(3.98×10^-5, 4.93×10^-5, 5.06×10^-6)	(-0.022 1, -0.034 6, 0.008 5)	0.041 9	213.5	0.02
	aloam	(0, 0, 0)	(37.910, 5.181, 40.979)	fail	208.3	fail
	lego_loam	(-0.014, -0.003, -0.015)	(2.693, 10.369, 6.659)	fail	203.3	fail
2	lio-sam	(0, 0, 0)	(0.259, -0.030, 1.526)	fail	194.7	fail
	Adp-lio-sam	(0, 0, 0)	(-0.067 6, -0.028 7, 1.147 0)	1.149 0	207.5	0.6
	aloam	(0, 0, 0)	(-6.630, 28.938, 15.593)	fail	196.9	fail
	lego_loam	(0.022 2, -0.008 2, 0.001 8)	(0.530 0, 0.025 5, 0.964 0)	1.202 0	192.8	0.60
3	lio-sam	(0, 0, 0)	(-0.350, 0.376, 0.111)	fail	158.8	fail
	Adp-lio-sam	(0, 0, 0)	(-0.390, 0.366, 0.135)	0.552 0	166.6	0.30
	aloam	(0, 0, 0)	(-9.324, 7.135, 1.075)	fail	165.4	fail
	lego_loam	(-0.029, -0.001, -0.005)	(35.901, 29.295, -17.330)	fail	155.7	fail

实验	算法	实际误差	平均误差
1	lio-sam	0.250	0.250
	Adp-lio-sam	0.130	0.130
	aloam	fail	fail
	lego_loam	fail	fail
2	lio-sam	fail	fail
	Adp-lio-sam	2.350	2.350
	aloam	fail	fail
	lego_loam	3.125	3.128
3	lio-sam	fail	fail
	Adp-lio-sam	1.271	1.271
	aloam	fail	fail
	lego_loam	fail	fail

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适应于环境空间变化的激光雷达SLAM建图方法

Lidar SLAM Mapping Method Adapted to Environmental Spatial Changes

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