典型文献
A Robust 2D Lidar SLAM Method in Complex Environment
文献摘要：
The two-dimensional(2D)lidar is a ranging optical sensor that can measure the cross-section of the geometric structure of the environment.We propose a robust 2D lidar simultaneous localization and mapping(SLAM)algorithm working in ambiguous environments.To improve the front-end scan-matching module's accuracy and robustness,we propose performing degeneration analysis,line landmark tracking,and environment coverage analysis.The max-clique selection and odometer verification are introduced to increase the stability of the SLAM algorithm in an ambiguous environment.Moreover,we propose a tightly coupled framework that integrates lidar,wheel odometer,and inertial measurement unit(IMU).The framework achieves the accurate mapping in large-scale environments using a factor graph to model the multi-sensor fusion SLAM problem.The experimental results demonstrate that the proposed method achieves a highly accurate front-end scan-matching module with an error of 3.8％of the existing method.And it can run stably in ambiguous environments where the existing method will be failed.Moreover,it ccan successfully construct a map with an area of more than 250 000 square meters.
文献关键词：
中图分类号：
作者姓名：
Shan HUANG;Hong-Zhong HUANG;Qi ZENG;Peng HUANG
作者机构：
Center for System Reliability and Safety,University of Electronic Science and Technology of China,Chengdu 611731,China;EvenTec Co.,Ltd.,Chengdu 610097,China;Jiangxi University of Science and Technology,Ganzhou 341000,China
文献出处：
引用格式：
[1]Shan HUANG;Hong-Zhong HUANG;Qi ZENG;Peng HUANG-.A Robust 2D Lidar SLAM Method in Complex Environment)[J].光子传感器（英文版）,2022(04):51-65
A类：
odometer,ccan
B类：
Robust,2D,Lidar,SLAM,Method,Complex,Environment,two,dimensional,lidar,ranging,optical,sensor,that,cross,section,geometric,structure,We,simultaneous,localization,mapping,algorithm,working,ambiguous,environments,To,improve,front,end,scan,matching,module,accuracy,robustness,we,performing,degeneration,analysis,line,landmark,tracking,coverage,max,clique,selection,verification,introduced,increase,stability,Moreover,tightly,coupled,framework,integrates,wheel,inertial,measurement,unit,IMU,achieves,accurate,large,scale,using,graph,model,multi,fusion,problem,experimental,results,demonstrate,proposed,method,highly,error,existing,And,run,stably,where,will,be,failed,successfully,construct,area,more,than,square,meters
AB值：
0.572358
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