地下矿山激光SLAM技术定量精度评定方法  

Quantitative accuracy evaluation method of laser SLAM technology in underground mines

作　　者：庞帆 何玉龙 张达 陈凯 余乐文 李翰臣 张驰 PANG Fan;HE Yulong;ZHANG Da;CHEN Kai;YU Lewen;LI Hanchen;ZHANG Chi(BGRIMM Technology Group, Beijing 100160, China;China-South Africa Joint Research Center for Mineral Resources Development and Utilization, Beijing 102628, China;Shandong Gold Group Co, Ltd.,Sanshandao Gold Mine, Laizhou Shandong 261442, China)

机构地区：[1]矿冶科技集团有限公司,北京100160 [2]中国-南非矿产资源开发利用联合研究中心,北京102628 [3]山东黄金矿业(莱州)有限公司三山岛金矿,山东莱州261442

出　　处：《有色金属（矿山部分）》2022年第4期119-127,共9页NONFERROUS METALS(Mining Section）

基　　金：国家重点研发计划项目(2020YFC1909602);矿冶科技集团有限公司青年科技创新基金项目(04-2203);中国-南非矿产资源开发利用联合研究中心项目(2018YFE0121000)。

摘　　要：针对目前地下矿山领域缺少激光SLAM技术定量精度评定方法的现状,从激光SLAM技术的定位和建图两个方面进行误差分析,提出三种定量精度评定方案,将端到端定位误差、相对距离误差和绝对点位误差作为精度评测指标。结合自研井下无人机载三维激光扫描测量系统和典型测试场景,对精度评价方案进行实测。测试结果表明,该激光SLAM系统具有厘米级的建图精度,激光SLAM技术定量精度评定方案可为学术研究和工程实践提供参考。Due to the present situation that the lack of quantitative accuracy evaluation method of laser SLAM technology in the field of underground mines.This paper analyzes the error from two aspects of positioning and mapping of laser SLAM technology,three quantitative accuracy evaluation methods are proposed,which select end-to-end positioning error,relative distance error,and absolute point position error as accuracy evaluation indexes.Combined the self-developed underground UAV 3D laser scanning system and typical test scenarios to test the accuracy of evaluation methods.The test results show that this laser SLAM system has centimeter-level mapping accuracy.Therefore,the quantitative accuracy evaluation methods of laser SLAM technology in the field of underground mines are given,which can provide references for academic research and engineering practice.

关 键 词：地下矿山 激光SLAM 无人机载三维激光扫描系统 定量精度评定 定位误差 绝对点位误差 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]