Design and implementation of laser SLAM accuracy test field

doi:10.13474/j.cnki.11-2246.2020.0147

Abstract

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

CLC Number:

P237

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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