可变高度激光里程计在室内不平整地面环境下的地图构建
PDF下载 (369)刘子明,陈庆盈,李 阳,彭文飞.可变高度激光里程计在室内不平整地面环境下的地图构建[J].宁波大学学报(理工版),2020,33(4):17-22.DOI:
LIU Ziming,CHEN Chin-yin,LI Yang,PENG Wenfei.Map construction of variable-height lidar odometry in indoor uneven ground environment[J].Journal of Ningbo University(Natural Science & Engineering Edition),2020,33(4):17-22.DOI:
| Title: | Map construction of variable-height lidar odometry in indoor uneven ground environment |
| 作者: | 刘子明, 陈庆盈, 李 阳, 彭文飞 |
| Author(s): | LIU Ziming, CHEN Chin-yin, LI Yang, PENG Wenfei |
| 关键词: | 可变高度激光雷达; 同时定位与地图构建; 特征匹配; 栅格地图 |
| Keywords: | variable-height lidar; simultaneous location and mapping; feature match; occupancy grid map |
| 分类号: | TP242.6 |
| 文献标识码: | A |
| 摘要: | 针对可变高度激光雷达的结构特点提出了一种基于线、面特征的匹配算法, 并应用于存在不平整地面的结构化的室内环境. 首先提取激光点云中的边缘点和平面点, 并使用随机抽样一致性算法拟合成线段和平面; 然后根据线段与平面几何关系提出特征匹配条件, 完成特征之间的匹配; 利用特征间的匹配关系构建约束方程求解机器人位姿; 最后把机器人竖直方向位姿变换信息补偿到激光点云中, 并把纠正后的有一定高度的激光点云压缩成二维激光构建室内栅格地图. 实验结果表明, 与常用的二维激光同时定位与构图算法Gmapping对比, 在地面不平整的室内环境构建的地图得到了改善, 提高了移动机器人的构图精度. |
| Abstract: | This paper proposes a matching algorithm on line and surface features by exploiting the characteristics of a variable-height lidar, which can be used in the structured indoor environment with uneven ground. Firstly, with the new algorithm, the edge points and plane points from the point cloud are obtained to fit line segments and planes. Based on the line segment and plane geometric constraints, feature matching conditions are obtained to build a constraint equation. The robot pose can then be calculated from the constraint equation. Finally, the calculated vertical pose transformation information of the robot is compensated, and used in the laser point cloud. The indoor grid map is constructed by a two-dimensional laser with a compressed laser point cloud. The algorithm is validated experimentally with Gmapping. A comparison with the variable-height lidar odometry algorithm is illustrated, which shows that the composition accuracy of the mobile robot is improved. |
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| 备注/Memo: | 收稿日期: 2019－11－29. 宁波大学学报（理工版）网址: http://journallg.nbu.edu.cn/基金项目: 国家重点研发计划（2017YFB1300400）; 装备预研项目领域基金（61409230101）; NSFC-浙江省两化融合联合基金（U1509202）;宁波市创新团队（2016B10016）.第一作者: 刘子明（1993－）, 男, 山西大同人, 在读硕士研究生, 主要研究方向: 移动机器人同时定位与地图构建. E-mail: liuziming@nimte.ac.cn*通信作者: 陈庆盈（1976－）, 男, 台湾桃园人, 研究员, 主要研究方向: 机电一体化、机器人设计. E-mail: chenchinyin@nimte.ac.cn 宁波大学学报（理工版）网址：http://journallg.nbu.edu.cn/ |
