激光SLAM精度测试场设计与实现

doi:10.13474/j.cnki.11-2246.2020.0147

测绘通报 ›› 2020, Vol. 0 ›› Issue (5): 64-68.doi: 10.13474/j.cnki.11-2246.2020.0147

激光SLAM精度测试场设计与实现

杨啸天¹, 李广云¹, 向奉卓², 王力¹, 罗豪龙¹

1. 信息工程大学地理空间信息学院, 河南郑州 450001;
2. 61287部队, 四川成都 610036

收稿日期:2019-12-30 发布日期:2020-06-02
作者简介:杨啸天(1994-),男,硕士生,主要从事室内测图及BIM建模的研究。E-mail:esis@Foxmail.com
基金资助:
国家自然科学基金（41501491）；国家重点研发计划（2017YFF0206001）

Design and implementation of laser SLAM accuracy test field

YANG Xiaotian¹, LI Guangyun¹, XIANG Fengzhuo², WANG Li¹, LUO Haolong¹

1. Intitute of Surveying and Mapping, Information Engineering University, Zhengzhou 450001, China;
2. Troops 61287, Chengdu 610036, China

Received:2019-12-30 Published:2020-06-02

摘要/Abstract

摘要： 同时定位与地图构建（SLAM）系统在机器人、自动驾驶和移动测量等领域有广泛的应用，但目前系统精度的测试方法尚不完善。针对SLAM系统精度测试的实际需求，本文提出了一种SLAM高精度测试场的建立方法。首先建立三维控制网，然后利用三维激光扫描技术对环境信息进行采集，最终构建出用于测试SLAM系统精度的高精度三维点云特征库。试验结果表明，建立的三维点云特征库包含丰富的特征信息，具有真实地理坐标，精度达到毫米级，可以较好地满足SLAM精度测试的需求。

关键词: SLAM, 精度测试, 三维控制网, 激光扫描技术, 特征库

Abstract: SLAM systems have been widely used in the fields of robotics, autonomous driving, and mobile measurement, but the current system accuracy test methods are not perfect. Aiming at the actual needs of SLAM system accuracy testing, a method for establishing a SLAM high-precision test field is proposed. Firstly a three-dimensional control network is established. Then three-dimensional laser scanning technology is used to collect environmental information. Finally a high-quality 3D point cloud feature library for SLAM system accuracy test is constructed. The experimental results show that the established 3D point cloud feature library contains rich feature information, has real geographic coordinates, and has an accuracy of mm level, which can better meet the needs of SLAM accuracy testing.

Key words: SLAM, accuracy test, 3D control network, laser scanning technology, feature library

中图分类号:

P237

杨啸天, 李广云, 向奉卓, 王力, 罗豪龙. 激光SLAM精度测试场设计与实现[J]. 测绘通报, 2020, 0(5): 64-68.

YANG Xiaotian, LI Guangyun, XIANG Fengzhuo, WANG Li, LUO Haolong. Design and implementation of laser SLAM accuracy test field[J]. Bulletin of Surveying and Mapping, 2020, 0(5): 64-68.

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激光SLAM精度测试场设计与实现

Design and implementation of laser SLAM accuracy test field

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