融合速度估计与里程计位姿的扫描匹配改进算法
DOI:
作者:
作者单位:

作者简介:

通讯作者:

中图分类号:

TP242

基金项目:

国家重点研发计划(2017YFB1304004);北京信息科技大学专项项目(5111823115)


An Improved Scan-Matching Algorithm Based on the Fusion of Velocity Estimation and Odometry
Author:
Affiliation:

Fund Project:

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    为改进低帧率激光雷达在扫描匹配中的扫描畸变问题,提出了融合速度估计与里程计位姿估计的扫描匹配改进算法。首先以迭代最邻近点匹配为基础算法,分析了现有算法的问题所在。其次对扫描畸变问题展开分析,运用里程计位姿估计对激光位姿进行分段位姿估计。通过对分段内激光点进行速度估计,进一步确定激光点位姿。给出了具体的算法原理,并进行了仿真实验和具体的对比实验。仿真结果与实际试验结果表明,本文算法在匹配精度上优于ICP算法及VICP算法。

    Abstract:

    In order to solve the scan distortion problem in scan-matching algorithm with the low frame rate Lidar, an improved scan-matching algorithm based on the fusion of velocity estimation and odometry is presented.Firstly, based on the ICP(iterative closest point) algorithm, the problem of existing algorithm is analyzed. Then, the scan distortion problem is analyzed and the point clouds are segmented by odometry. By estimating the velocity of the Lidar, the pose of the point is confirmed further. The specific algorithm is given, and the simulation experiment and specific contrast experiment are carried out. Consequently, the simulation experiment and actual experiments show that the proposed algorithm is better than origin ICP and VICP algorithm.

    参考文献
    相似文献
    引证文献
引用本文

杨超,李天剑,胡欢,等. 融合速度估计与里程计位姿的扫描匹配改进算法[J]. 科学技术与工程, 2020, 20(28): 11632-11638.
杨超, Hu Huan, Huang Min. An Improved Scan-Matching Algorithm Based on the Fusion of Velocity Estimation and Odometry[J]. Science Technology and Engineering,2020,20(28):11632-11638.

复制
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:2019-10-09
  • 最后修改日期:2020-06-14
  • 录用日期:2019-12-27
  • 在线发布日期: 2020-11-03
  • 出版日期:
×
律回春渐,新元肇启|《科学技术与工程》编辑部恭祝新岁!
亟待确认版面费归属稿件,敬请作者关注