CAJ | 학술논문

二维激光测距仪辅助惯性导航系统、视觉系统等实现机器人或微小型飞行器定位需要解决的关键问题是扫描匹配。本文对已有的 RS/LS,IDC,Cox以及 ICP等扫描匹配算法进行改进，提出一种 R-I-C组合策略。根据扫描中提取线段的情况选择性使用 Cox算法和 IDC算法，由基于留点的 ICP 算法或 RS/LS 算法为其提供可靠的初始估计。该组合策略既适用于多边形环境，也适用于非多边形环境，具有一定智能性，能够处理大变换，定位精确度高。本文采用仿真比较 R-I-C组合策略和上述常用匹配算法，并采用三轴转台和一维激光测距仪模拟二维激光测距仪，用 R-I-C算法对实验数据进行计算。仿真结果表明该组合策略定位误差可达5%以下，而计算速度不超过1s。
이유격광측거의보조관성도항계통、시각계통등실현궤기인혹미소형비행기정위수요해결적관건문제시소묘필배。본문대이유적 RS/LS,IDC,Cox이급 ICP등소묘필배산법진행개진，제출일충 R-I-C조합책략。근거소묘중제취선단적정황선택성사용 Cox산법화 IDC산법，유기우류점적 ICP 산법혹 RS/LS 산법위기제공가고적초시고계。해조합책략기괄용우다변형배경，야괄용우비다변형배경，구유일정지능성，능구처리대변환，정위정학도고。본문채용방진비교 R-I-C조합책략화상술상용필배산법，병채용삼축전태화일유격광측거의모의이유격광측거의，용 R-I-C산법대실험수거진행계산。방진결과표명해조합책략정위오차가체5%이하，이계산속도불초과1s。
The-key-problem-of-using-the-two-dimensional-laser-range-finder-as-an-assistant-of-Inertial-Navigation-System-and-Visual-System-for-robot-and/or-Micro-Air-Vehicle-positioning-is-laser-scan-matching.-The-exiting-RS/LS-algorithm,-Iterative-Dual-Correspondence(IDC)-algorithm,-Cox-algorithm-and-Iterative-Closest-Point(ICP)-algorithm,-are-improved-by-adopting-a-combination-strategy-called-R-I-C.-The-choosing-of-the-Cox-algorithm-and-the-IDC-algorithm-depends-on-line-extracting.-The-residual-point-based-ICP-algorithm-and/or-the-Rotation-Search/Least-Squares(RS/LS)-algorithm-can-provide-an-initial-estimation-for-the-Cox-or-IDC-algorithm.-This-combination-strategy-can-be-used-on-both-polygon-and-un-polygon-environments-with-certain-intelligence,large-transform-capability-and-high-positioning-accuracy.-R-I-C-combination-algorithm-is-compared-with-the-common-matching-algorithms-mentioned-above-by-simulation.-A-three-axis-turntable-and-one-dimensional-laser-range-finder-are-employed-to-simulate-the-two-dimensional-laser-range-finder,and-the-data-is-processed-by-R-I-C-combination-algorithm.-The-results-indicate-that-the-error-of-R-I-C-is-below-5%,-and-the-cost-of-time-is-less-than-one-second.