哈尔滨工程大学学报2025，Vol.46Issue(5)：977-987,11.DOI:10.11990/jheu.202304040
室内退化环境下高精度定位与建图
High-precision simultaneous localization and mapping in an indoor degraded environment
摘要
Abstract
A robust and accurate simultaneous localization and mapping(SLAM)method is proposed to address the issue of laser odometer failure and data aliasing,which can affect global map consistency in featureless environ-ments using traditional two-dimensional laser SLAM techniques.The method improves correlation scanning matc-hing by introducing multiresolution maps,which accelerates the search process and provides high-pixel accuracy in pose estimation.Additionally,a degradation sensing module is incorporated into the high-resolution subpixel matc-hing to detect environmental degradation in real time and remap the estimated pose to correct abnormal results.Ex-perimental results demonstrate that this method overcomes laser odometer failure in featureless environments.The map construction error in two long corridors with lengths of 16.92 and 48.12 m is 0.77%and 1%,respectively.The absolute trajectory error reaches 0.096 m in the corridor sequence of the OpenLORIS-Scene public dataset.关键词
激光雷达,多分辨率地图/扫描匹配/退化感知/重映射/定位建图/退化环境/移动机器人Key words
lidar/multiresolution map/scan matching/degenerate perception/remapping/slam/degraded envi-ronment/mobile robot分类
信息技术与安全科学引用本文复制引用
钱新博,程浩然,蒋林,陈澳,汤勃,黄惠保,周和文..室内退化环境下高精度定位与建图[J].哈尔滨工程大学学报,2025,46(5):977-987,11.基金项目
国家重点研发计划(2019YFB1310000) （2019YFB1310000）
国家自然科学基金项目(51874217). （51874217）
