3D point cloud mapping based on closed-loop detection

FU Guangyao; ZHOU Hai; BIAN Chunjiang; CHEN Yu

doi:10.13873/J.1000-9787(2020)09-0053-03

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3D point cloud mapping based on closed-loop detection

更新时间：2025-09-11

- 3D point cloud mapping based on closed-loop detection
- Vol. 39, Issue 9, Pages: 53-55+59(2020)
- 作者机构：
  
  1. 中国科学院国家空间科学中心
  2. 中国科学院大学
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2020)09-0053-03
  CLC： U463.6;TP391.41
- Published：2020
- 稿件说明：
移动端阅览
[1]付光耀,周海,卞春江,陈宇.基于闭环检测的三维点云地图创建[J].传感器与微系统,2020,39(09):53-55+59.

FU Guangyao, ZHOU Hai, BIAN Chunjiang, et al. 3D point cloud mapping based on closed-loop detection[J]. 2020, 39(9): 53-55+59.
[1]付光耀,周海,卞春江,陈宇.基于闭环检测的三维点云地图创建[J].传感器与微系统,2020,39(09):53-55+59. DOI： 10.13873/J.1000-9787(2020)09-0053-03.

FU Guangyao, ZHOU Hai, BIAN Chunjiang, et al. 3D point cloud mapping based on closed-loop detection[J]. 2020, 39(9): 53-55+59. DOI： 10.13873/J.1000-9787(2020)09-0053-03.

摘要

提出了一种基于闭环检测的适用于室外三维点云地图创建的方法

该方法具有高分辨率、低误差的优点。在公共数据集和室外真实环境下进行了三维点云建图实验。实验结果表明:建图分辨率达到了0.05 m且平均误差率在0.44%以内

具有良好的可行性和准确性

能够为自动驾驶等相关领域提供精确可靠的数据来源。

Abstract

Aiming at this problem

a method based on closed-loop detection for outdoor 3 D point cloud map creation is proposed

3 D point cloud construction experiment in public dataset and outdoor real environment is performed. The experimental results show that the method achieves resolution of mapping reach 0. 05 m

and the average error rate is within 0. 44 %. It has good feasibility and accuracy

it can provide accurate and reliable source of data for self-driving.

关键词

Keywords

references

Cartographer 2D SLAM算法研究 [J]. 吴成鼎,姚剑敏,胡海龙. 有线电视技术 . 2018(04)

基于多传感器信息融合的移动机器人导航综述 [J]. 丁伟,孙华,曾建辉. 传感器与微系统 . 2006(07)

The Gaussian Particle Filter for Diagnosis of Non-Linear Systems [J] . Frank Hutter,Richard Dearden. IFAC Proceedings Volumes . 2003 (5)

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