软件导刊2024，Vol.23Issue(12)：99-105,7.DOI:10.11907/rjdk.231852
基于环境判断的激光视觉融合定位算法
Laser Vision Fusion Localization Algorithm Based on Environment Judgment
摘要
Abstract
In order to solve the problem of low positioning accuracy of SLAM systems in certain low texture or low obstacle scenes,a laser vi-sion fusion positioning algorithm based on environmental judgment is proposed.This algorithm compares the amount of information obtained by laser sensors and visual sensors to determine whether the current environment is favorable for laser sensors or visual sensors.Set a weight for each sensor and optimize the pose based on the weight of each sensor's information to improve positioning accuracy.In addition,due to the lim-ited texture information obtained by laser sensors,using laser sensors for loop detection results in significant errors.To improve the accuracy of loop detection,it is dynamically determined whether to use laser sensors or visual sensors for loop detection based on environmental judgment results,and then the robot pose is globally optimized to spread out errors.The experimental results show that in complex environments,the proposed algorithm has higher accuracy compared to the original algorithm.The errors in the three sequences of mh_02/easy,V1_02/medium,and V1_03-difficult are 0.031/0.025,0.040/0.037,and 0.036/0.033,respectively,which can fit the real trajectory well.关键词
定位/复杂环境/激光传感器/视觉传感器/环境判断/回环检测Key words
localization/complex environments/laser sensors/vision sensors/environmental judgment/loop closure detection分类
信息技术与安全科学引用本文复制引用
曹一波,范敬文,杨正东,赵佳恒..基于环境判断的激光视觉融合定位算法[J].软件导刊,2024,23(12):99-105,7.基金项目
宁波市重点技术研发项目(2021E007) （2021E007）
