基于激光雷达的SLAM算法综述  

Overview of LiDAR-Based SLAM Algorithms

作　　者：梁双 倪晓昌[1] 董娇玲 高梦杰 杜博文 LIANG Shuang;NI Xiaochang;DONG Jiaoling;GAO Mengjie;DU Bowen(School of Electronic Engineering,Tianjin Vocational and Technical Normal University,Tianjin 300222,China)

机构地区：[1]天津职业技术师范大学电子工程学院,天津300222

出　　处：《信息与电脑》2022年第3期59-61,共3页Information & Computer

基　　金：教育部产教协同育人项目(项目编号:202002285019);企业横向课题(项目编号:HX202022,HX2001S7)。

摘　　要：目前,同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)在无人驾驶领域受到了广泛的关注。围绕SLAM相关技术,对视觉SLAM、激光SLAM等SLAM传感器展开介绍并进行比较。基于激光雷达的SLAM算法是定位与构建地图的关键,笔者描述了几种常见的基于激光雷达的SLAM算法的适用范围、改进方法以及常见应用,同时分析了基于激光雷达的SLAM算法的发展前景。At present,SLAM has received extensive attention in the field of unmanned driving.Focusing on SLAM related technologies,SLAM sensors such as visual SLAM and laser SLAM are introduced and compared.The SLAM algorithm based on lidar is the key to positioning and building maps.The author describes the scope of application,improvement methods and common applications of several common SLAM algorithms based on lidar,and analyzes the development prospects of SLAM algorithms based on lidar.

关 键 词：激光雷达 SLAM 多传感器融合 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]