高技术通讯2024，Vol.34Issue(1)：83-91,9.DOI:10.3772/j.issn.1002-0470.2024.01.009
基于NDT配准与轮式里程计的激光雷达运动畸变补偿算法
Lidar motion distortion compensation algorithm based on NDT registration and wheel odometry
摘要
Abstract
Lidar is a ranging sensor widely used in simultaneous localization and mapping(SLAM),and generally col-lects geometric information of the surrounding environment based on the rotation mechanism.When the lidar moves during the scan,the resulting point cloud will have motion distortions,which in turn reduces the accuracy of the SLAM system.In the SLAM algorithm of lidar,in order to make the estimation result of lidar motion more accu-rate,this paper proposes a motion distortion compensation algorithm of lidar based on normal distributions transform(NDT)and wheel odometry.Firstly,the lidar motion is estimated by high-frequency measurements using wheel odometry,which compensates for some motion distortions.Then,an error processing method is designed based on the NDT registration algorithm.By reducing the influence of odometry drift through accurate matching of point clouds,accurate motion estimation of lidar and accurate compensation for motion distortion can be achieved.The proposed algorithm is tested by datasets and real scene experiments.The experimental results show that,compared with the traditional odometry-assisted method,the proposed algorithm can optimize the motion distortion compensa-tion effect,reduce the cumulative error of the trajectory and generate a globally consistent map.关键词
同时定位与地图构建(SLAM)/运动畸变补偿/激光雷达/轮式里程计/正态分布变换(NDT)Key words
simultaneous localization and mapping(SLAM)/motion distortion compensation/lidar/wheel odometry/normal distributions transform(NDT)引用本文复制引用
陈强,陈海波,张沥化..基于NDT配准与轮式里程计的激光雷达运动畸变补偿算法[J].高技术通讯,2024,34(1):83-91,9.基金项目
①国家自然科学基金(61973274)和浙江省自然科学基金重点(LZ22F030007)资助项目. （61973274）
