科技创新与应用2026，Vol.16Issue(8)：1-4,4.DOI:10.19981/j.CN23-1581/G3.2026.08.001
基于 2D-LiDAR与IMU融合的轨道机器人三维重建方法及误差补偿
杨佳熠 1李智文 1陈东 1范兴寿 1赵庆虚2
作者信息
- 1. 易门铜业有限公司,云南 玉溪 651100
- 2. 昆明冶金研究院有限公司,昆明 650031||有色金属强化冶金新技术全国重点实验室,昆明 650031
- 折叠
摘要
Abstract
To address the high cost of 3D LiDAR systems,this paper proposes a multi-position scanning-based 3D reconstruction method using a low-cost 2D-LiDAR mounted on a rail-guided robotic platform.By analyzing the impact of yaw,heading,and pitch angle errors during robot motion on point cloud registration accuracy,IMU data is introduced for motion compensation.Additionally,a temporal alignment-based IMU interpolation algorithm is proposed to resolve data asynchrony between the LiDAR and IMU.Experimental results demonstrate that this approach significantly enhances point cloud registration accuracy,achieving millimeter-scale 3D reconstruction.关键词
三维重建方法/运动误差补偿/IMU插值算法/轨道机器人/2D-LiDARKey words
3D reconstruction method/motion error compensation/IMU interpolation algorithm/orbital robot/2D-LiDAR分类
信息技术与安全科学引用本文复制引用
杨佳熠,李智文,陈东,范兴寿,赵庆虚..基于 2D-LiDAR与IMU融合的轨道机器人三维重建方法及误差补偿[J].科技创新与应用,2026,16(8):1-4,4.
