一种手持式半球形视角激光雷达SLAM三维建图技术

doi:10.13474/j.cnki.11-2246.2023.0054

测绘通报 ›› 2023, Vol. 0 ›› Issue (2): 139-144.doi: 10.13474/j.cnki.11-2246.2023.0054

一种手持式半球形视角激光雷达SLAM三维建图技术

杨红刚

中铁第四勘察设计院集团有限公司, 湖北武汉 430063

收稿日期:2022-07-26 发布日期:2023-03-01
作者简介:杨红刚(1978-),男,高级工程师,主要从事铁路勘测、工程测量技术研究及实践。E-mail:003384@crfsdi.com
基金资助:
国家重点研发计划(2021YFB2600401)

A Handheld 3D mapping technology based on hemispherical laser scanner SLAM approach

YANG Honggang

China Railway Siyuan Survey and Design Group Co., Ltd., Wuhan 430063, China

Received:2022-07-26 Published:2023-03-01

摘要/Abstract

摘要： 针对室内外场景快速三维建图问题,本文提出了一种半球形视角激光雷达扫描同时定位与建图(SLAM)方法,设计了集成半球形视角激光雷达和惯性测量单元的手持便携式三维激光扫描系统。首先,根据半球形视角激光雷达扫描线结构特征,对分割的地面点云降采样,减少垂直约束冗余。然后,对惯性测量单元(IMU)和降采样激光点云通过一个紧耦合迭代扩展卡尔曼滤波器(iEKF)进行联合位姿估计。最后,使用因子图增量式后端优化处理消除累积误差,提升点云地图精度。采用本文方法研发的原型系统对典型室内外场景进行建图试验,结果表明:本文方法绝对定位精度优于4‰,相对定位精度优于0.3‰,在室内外一体化三维建图方面具有广阔应用前景。

关键词: 同时定位与建图, 半球形视角激光雷达, 因子图优化, 手持式激光扫描系统, 三维点云

Abstract: In order to solve the problem of rapid 3D mapping for indoor and outdoor scenes, a hemispherical laser scanner based simultaneous localization and mapping (SLAM) method is proposed, and a handheld portable 3D laser scanning system integrating hemispherical angle laser scanner and inertial measurement unit(IMU) is designed. Firstly, a ground point cloud segmentation algorithm is proposed to reduce the redundant vertical constraints according to the scanning line structural characteristics of the hemispherical laser scanner. Secondly, a tightly coupled iterative extended Kalman filter (IEKF) is presented to determine the position and attitude with the IMU and the down sampled point cloud. Finally, the incremental back-end optimization processing of factor map is used to eliminate the cumulative error and improve the accuracy of point cloud map. The prototype system developed with the proposed method is implemented to build 3D point cloud maps of typical indoor and outdoor scenes. The results show that the absolute positioning accuracy of this method is better than 4‰ and the relative positioning accuracy is better than 0.3‰. It has broad application prospects in indoor and outdoor integrated 3D mapping.

Key words: simultaneous localization and mapping, hemispherical laser scanner, factor graph optimization, handheld laser scanning system, 3D point cloud

中图分类号:

P237

杨红刚. 一种手持式半球形视角激光雷达SLAM三维建图技术[J]. 测绘通报, 2023, 0(2): 139-144.

YANG Honggang. A Handheld 3D mapping technology based on hemispherical laser scanner SLAM approach[J]. Bulletin of Surveying and Mapping, 2023, 0(2): 139-144.

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一种手持式半球形视角激光雷达SLAM三维建图技术

A Handheld 3D mapping technology based on hemispherical laser scanner SLAM approach

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