计算机工程与应用2024，Vol.60Issue(8)：329-337,9.DOI:10.3778/j.issn.1002-8331.2301-0073
室内测绘机器人自主定位与三维建图研究
Research on Autonomous Positioning and 3D Map Building of Indoor Mapping Robots
摘要
Abstract
Indoor space is difficult to build 3D maps with high accuracy using limited sensors due to low illumination,lack of GPS positioning assistance and few scene features.To address this problem,this paper improves the FAST-LIO algorithm by introducing a Lider-IMU parameter initialization system and a back-end loopback detection optimization algorithm to increase the robustness of map building in large scenes.Experimental studies are conducted using publicly available datasets.The results show that the trajectory error accuracy of the algorithms in this paper are improved com-pared with the existing algorithms.This paper also designs a robot to test in the interior environment of a building at Southeast University.The experimental results show that the robot can realize the autonomous movement to build the map and return safely with good results.关键词
移动机器人/自主探索/三维建图/点云地图Key words
mobile robots/autonomous exploration/3D map building/point cloud maps分类
信息技术与安全科学引用本文复制引用
周宏毅,章国宝,朱宏伟..室内测绘机器人自主定位与三维建图研究[J].计算机工程与应用,2024,60(8):329-337,9.基金项目
江苏省社会发展项目(BE2021750). （BE2021750）
