基于激光雷达的SLAM和融合定位方法综述  

A Review of LiDAR Based SLAM and Multi-Sensor Fusion forLocalization

作　　者：代凯[1,2] 申棋仁 吴官朴 赵阳 马芳武[1,2] Dai Kai;Shen Qiren;Wu Guanpu;Zhao Yang;Ma Fangwu(State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022;College of Automotive Engineering,Jilin University,Changchun 130022)

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,长春130022 [2]吉林大学汽车工程学院,长春130022

出　　处：《汽车文摘》2021年第2期1-8,共8页Automotive Digest

摘　　要：基于激光雷达的同步定位和建图(SLAM)及融合定位技术是无人驾驶的关键技术。激光雷达可以从环境中获取精确的距离及强度信息,被广泛应用于高精度地图构建及基于地图的匹配定位,可有效增强基于卫星定位在弱GNSS区域的鲁棒性。基于当前无人驾驶背景下激光SLAM及融合定位方法的研究现状,对应用于无人驾驶车辆的激光SLAM和融合定位方法的架构原理、标志性成果和研究热点展开综述,并探讨其发展趋势。The LiDAR based Simultaneous Localization And Mapping(SLAM)and multi-sensor fusion localization are the key technologies for autonomous driving.LiDAR can obtain accurate range and intensity information from the environment,and LiDAR is widely used in high-precision map construction and map based matching localization,which can effectively enhance the localization robustness in weak GNSS area.Based on the state-of-art research of LiDAR SLAM and fusion method under the background of autonomous driving,the framework and principle,symbolic achievements and research hotspots of SLAM and fusion methods for autonomous vehicle are summarized,and the development trend is discussed.

关 键 词：激光雷达 无人驾驶 同步定位和建图 多传感器融合 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]