| 一种基于点一面匹配的3D-SLAM方法 |
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| 引用本文： | 袁夏,赵春霞.一种基于点一面匹配的3D-SLAM方法[J].机器人,2011,33(2):215-221. |
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| 作者姓名： | 袁夏 赵春霞 |
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| 作者单位： | 南京理工大学计算机科学与技术学院,江苏,南京,210094 |
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| 基金项目： | 国家自然基金重大研究计划重点项目 |
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| 摘 要： | 提出一种基于点一面匹配的3维空间同步定位与3维地图创建(3D-SLAM)方法以解决3D-SLAM中的点云匹配问题.首先将3维空间中的6自由度(6DOF)匹配问题合理地简化成5DOF匹配问题,然后算法在激光雷达获取的每行数据中提取平面拐点,再通过区域生跃的方式找到点云中的平面区域.通过计算平面的法向量,并比较两帧数据之间...
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| 关 键 词： | 机器人 3 维空间同步定位与地图创建 激光点云 平面提取 层次投影 |
3D-SLAM Based on Point-plane Matching |
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| YUAN Xia,ZHAO Chunxia.3D-SLAM Based on Point-plane Matching[J].Robot,2011,33(2):215-221. |
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| Authors: | YUAN Xia ZHAO Chunxia |
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| Affiliation: | YUAN Xia,ZHAO Chunxia (School of Computer Science and Technology,Nanjing University of Science and Technology,Nanjing 210094,China) |
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| Abstract: | A point-plane based point cloud matching algorithm is proposed to deal with point cloud matching problem in 3D simultaneous localization and mapping(3D-SLAM).The 6DOF matching problem in 3D space are logically simplified as a 5DOF problem firstly.And then,the algorithm extracts break point in each row of laser data and employs an area growth method to find planes in point cloud.Normal vectors of planes are computed.The rotation of two frames can be estimated by comparing normal vectors of two associated pla... |
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| Keywords: | 3 |
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