激光和视觉融合SLAM方法研究综述 |
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引用本文: | 马争光,赵永国,刘成业,刘广亮,朱琳.激光和视觉融合SLAM方法研究综述[J].计算机测量与控制,2019,27(3):1-6. |
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作者姓名: | 马争光 赵永国 刘成业 刘广亮 朱琳 |
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作者单位: | 山东省科学院自动化研究所,,,, |
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基金项目: | 山东省科学院青年基金,山东省重点研发计划 |
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摘 要: | 激光和视觉传感器在SLAM应用中都有其局限性,基于激光和视觉传感器融合的SLAM方法能够有效的利用各个传感器的优势,弥补传感器在某些特殊环境下的劣势,成为当前研究的热点之一;在分析激光SLAM和视觉SLAM优缺点的基础上,对激光和视觉融合的SLAM方法的研究现状进行概括和总结;介绍了激光和视觉融合SLAM的主要标志性成果,总结了激光和视觉传感器融合SLAM的关键性问题,包括激光和视觉传感器数据的外部标定、激光和视觉传感器数据融合方法,对激光和视觉融合SLAM方法的优缺点和主要的应用领域进行了总结;最后,对激光和视觉融合SLAM的主要发展趋势及研究热点进行了讨论。
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关 键 词: | 激光和视觉融合 同步定位与建图 外部标定 数据融合 |
收稿时间: | 2018/12/20 0:00:00 |
修稿时间: | 2019/2/27 0:00:00 |
Survey of SLAM with Laser-Camera Fusion Sensor |
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Abstract: | Both the laser-based simultaneous localization and mapping (SLAM) and vision-based SLAM have limitation in specific environment, the SLAM with laser-camera fusion sensor can take advantage of outstanding features and make up the disadvantages of each sensors in these environment. Therefore, the SLAM with laser-camera fusion sensor has got much attention. The research of SLAM with laser-camera fusion sensor are reviewed and some outstanding achievements are presented to get a better understanding. Then the extrinsic calibration of camera and laser and laser-camera data fusion are analyzed in detail. And the advantages and disadvantages of the SLAM with laser-camera fusion sensor and its main application fields are summarized. In the end, the main trends and research hotspots of SLAM with laser-camera fusion sensor are discussed. |
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Keywords: | laser-camera sensor fusion SLAM extrinsic calibration data fusion |
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