同时定位和映射
计算机视觉
人工智能
计算机科学
惯性测量装置
激光雷达
渲染(计算机图形)
激光扫描
机器人
遥感
计算机图形学(图像)
移动机器人
激光器
地理
物理
光学
作者
Jianfei Que,Enhui Zheng,Zehai Zou
出处
期刊:Journal of physics
[IOP Publishing]
日期:2023-04-01
卷期号:2477 (1): 012070-012070
标识
DOI:10.1088/1742-6596/2477/1/012070
摘要
Abstract The satellite signal in the underground power pipe gallery is missing and the light is dim, so simultaneous localization and mapping (SLAM) is facing many challenges. Aiming at this special scene, a new SLAM method based on multi-sensor fusion is proposed by using a new type of area array laser radar and a monocular camera to build a 3D scanner. The geometric structure of the global map is obtained by fusing the pre-integrated IMU data and the lidar data. The texture and color information of the global map are supplemented by visual information rendering. A data connection bridge is built between the equipment and the local server in the form of remote networking to achieve data synchronization. The experimental results of an underground power pipe gallery in Zhejiang Province show that the method significantly improves the accuracy of 3D reconstruction in complex environments, and provides a useful reference for the development of localization and mapping of underground inspection robots.
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