记笔记

A Fast 3D Laser SLAM Method for Indoor Scenarios

YueQiang Wei¹Run Yang¹Ben Tan¹Song Xu²Ming Cen¹

1. School of Automation,Chongqing University of Posts and Telecommunications 2. Company of Motors,Qingling Motors (Group) Co.,Ltd

摘要：Indoor positioning is the key technology for intelligent mobile platform,and laser SLAM is a typical high accuracy solution.Compared with 2D method,3D laser SLAM is with higher accuracy and computational complexity.To improve the real-time performance of 3D laser SLAM,a fast 3D laser SLAM method is proposed in this paper.Firstly,the 3D laser point cloud is divided into several regions according to its height,and the point cloud of each region is projected onto the corresponding plane.Then the projection plane point cloud of each region is used as the input of 2D laser SLAM to obtain the independent positioning result set.Finally,positioning of each layer is combined to get global positioning by adaptive weight fusion.Experimental results show that the proposed method can consider both accuracy and real-time performance,and obtain relatively less time consumption within acceptable positioning accuracy.

关键词：

Indoor Positioning; 3D Laser SLAM; Layered Projection; Adaptive Weight Fusion;

基金：

supported by Chongqing Key Technology Innovation Project under Grant （cstc2019jscx-mbdxX0004）；

会议名称：

第34届中国控制与决策会议

会议时间：

2022-08-15

会议地点：

中国安徽合肥