现代信息科技2024，Vol.8Issue(4)：74-78,5.DOI:10.19850/j.cnki.2096-4706.2024.04.015
未知环境下基于视觉与激光融合的SLAM系统研究与实现
Research and Implementation of SLAM System Based on Vision and Laser Fusion in Unknown Environment
摘要
Abstract
Realizing autonomous navigation and environmental mapping of robots in unknown environments is a highly challenging research topic,and SLAM is one of the key technologies to address this challenge.Based on the analysis of research status,system scheme design,technical implementation,and experimental verification,combined with the advantages of vision and laser,a SLAM system based on vision and laser fusion in an unknown environment is designed.By using a balanced selection strategy for keyframes and sliding windows,as well as a classification optimization strategy,the initial pose and feature points are optimized,which improves the robustness of the system and can output high-precision maps;the feasibility and practicality of the proposed algorithm are verified through the implementation of a demonstration system using intelligent cars as carriers.关键词
未知环境/视觉/激光/SLAMKey words
unknown environment/vision/laser/SLAM分类
信息技术与安全科学引用本文复制引用
曾光,黄健盛,佟景泉,黄杨灵..未知环境下基于视觉与激光融合的SLAM系统研究与实现[J].现代信息科技,2024,8(4):74-78,5.基金项目
2021年广东省科技创新战略专项资金("攀登计划"专项资金)项目(pdjh2022b0855,pdjh2022b0854) （"攀登计划"专项资金）
2023年广东省科技创新战略专项资金(大学生科技创新培育)项目(pdjh202360852) （大学生科技创新培育）
