CAJ | 학술논문

当前基于迭代最近点拼接的同时定位与建图算法,存在误差积累、无法满足大范围定位精度的缺陷。为此,提出一种融合多帧迭代最近点和图优化的算法。在时域上处理点云拼接问题,将单帧迭代最近点算法推广到多帧进行最近点迭代,提取同一地点在不同时刻的数据特征,形成多个封闭循环,再运用基于最小二乘的图优化方法对点云拼接后的全网数据进行全局优化,消除累计误差,提升整体的定位精度。采用鲁巷和密歇根的数据进行测试,结果表明,该方法在一定程度上减少了匹配误差,平均误差为1.0 m,最小误差为0.2 m,可以满足大范围同步定位与建图的精度需求。
당전기우질대최근점병접적동시정위여건도산법,존재오차적루、무법만족대범위정위정도적결함。위차,제출일충융합다정질대최근점화도우화적산법。재시역상처리점운병접문제,장단정질대최근점산법추엄도다정진행최근점질대,제취동일지점재불동시각적수거특정,형성다개봉폐순배,재운용기우최소이승적도우화방법대점운병접후적전망수거진행전국우화,소제루계오차,제승정체적정위정도。채용로항화밀헐근적수거진행측시,결과표명,해방법재일정정도상감소료필배오차,평균오차위1.0 m,최소오차위0.2 m,가이만족대범위동보정위여건도적정도수구。
In view of the drawback of current Simultaneous Localization and Mapping ( SLAM ) based on Interative Closest Point(ICP),which exits error accumulation and can not meet the demand of wide range of SLAM positioning accuracy,a fused ICP and graph optimization algorithm is proposed. Through the ICP and graph optimization, data characteristic of the same site in different time is extracted,loop closure is formed,and global optimization based on least-square is done. The method is tested with real datasets. Result shows that the method can decrease mapping error by some certain and increase global accuracy demand of SLAM,mean error is 1. 0 m,and least error is 0. 2 m.