基于激光SLAM的运动畸变校正算法研究  

Research on Motion Distortion Correction Algorithm Based on Laser SLAM

作　　者：张凡 翟维枫[1] 张清雨 

机构地区：[1]北方工业大学,北京100144

出　　处：《工业控制计算机》2022年第2期76-78,共3页Industrial Control Computer

摘　　要：针对目前激光雷达为降低成本进而降低速度呈现出的采样频率低、采样点稀疏的发展方向与提高移动机器人移动速度的发展要求不匹配的现状,设计实现了一种畸变矫正算法,通过获取移动机器人搭载的位置姿态传感器数据,运用滤波算法和球面线性插值算法对姿态进行滤波估计,从而实现激光点云的畸变矫正。最后通过搭建ROS提供的Gazebo仿真平台,利用Rviz可视化,直观清晰地展示了矫正效果,验证了畸变矫正算法的准确性和可行性。Aiming at the current situation that the development direction of low sampling frequency and sparse sampling points presented by lidar in order to reduce costs and reduce speed does not match the development requirements of increasing the moving speed of mobile robots,a distortion correction algorithm is designed and implemented in this paper.The position and attitude sensor data carried by the mobile robot uses filtering algorithms and spherical linear interpolation algorithms to filter and estimate the attitude,so as to realize the distortion correction of the laser point cloud.Finally,by building the Gazebo simulation platform provided by ROS,using Rviz visualization,the correction effect is displayed intuitively and clearly,and the accuracy and feasibility of the distortion correction algorithm is verified.

关 键 词：激光雷达 畸变矫正 里程计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TN958.98[自动化与计算机技术—控制科学与工程]