激光和视觉融合SLAM方法研究综述  

Survey of SLAM with Laser-Camera Fusion Sensor

作　　者：马争光 赵永国[1,2,3] 刘成业 刘广亮[1,2,3] 朱琳 Ma Zhengguang;Zhao Yongguo;Liu Chengye;Liu Guangliang;Zhu Lin(Institute of Automation,Shandong Academy of Sciences,Shandong250014,China;Provincial Key Laboratory of Robot and Manufacturing Automation Technology,Shandong250014,China;Qilu University of Technology(Shandong Academy of Sciences),Shandong250014,China)

机构地区：[1]山东省科学院自动化研究所,济南250014 [2]山东省机器人与制造自动化技术重点实验室,济南250014 [3]齐鲁工业大学(山东省科学院),济南250014

出　　处：《计算机测量与控制》2019年第3期1-6,共6页Computer Measurement &Control

基　　金：山东省科学院青年基金项目(2019QN0015);山东省重点研发计划(2017CXGC0916)

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。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.

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 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]