计算机与数字工程2016，Vol.44Issue(11)：2252-2256,5.DOI:10.3969/j.issn.1672-9722.2016.11.032
基于三维激光扫描仪的室内移动设备定位与建图❋
Localization and Mapping Indoor for Mobile Devices Based on Three-dimensional Scanner
赵梓乔 1肖力1
作者信息
- 1. 华中科技大学自动化学院 武汉 430074
- 折叠
摘要
Abstract
In this paper,a solution is proposed to locate and map for mobile devices indoor by registration point cloud assisted with INS and odometer,it overcomes the shortcomings of the three-dimensional scanner's low data updating rate. First,the INS and odometer measure are used to accomplish mobile device's attitude and dead reckoning,then normal distri-bution transform (NDT)algorithm is applied to point cloud registration,as the initial value is the result of dead reckoning. Finally,the point cloud registration correction dead reckoning,and accomplish the localization and mapping.The effective-ness of the method described in the paper is demonstnated in a corridor,which using the wheeled trolley equipped with a three-dimensional laser scanner.关键词
点云/惯导/正态分布变换/定位/建图Key words
point cloud/INS/normal distribution transform/localization/mapping分类
信息技术与安全科学引用本文复制引用
赵梓乔,肖力..基于三维激光扫描仪的室内移动设备定位与建图❋[J].计算机与数字工程,2016,44(11):2252-2256,5.
