基于SLAM技术的地下暗渠探测方法  

Underground channel detection method based on SLAM technology

作　　者：彭浩[1] 朱德才[1] 吴凯华[1] PENG Hao;ZHU Decai;WU Kaihua(Guangzhou Urban Planning&Design Survey Research Institute,Guangzhou Guangdong 510060,China)

机构地区：[1]广州市城市规划勘测设计研究院,广东广州510060

出　　处：《北京测绘》2022年第10期1412-1416,共5页Beijing Surveying and Mapping

摘　　要：地下暗渠探测是河涌治理工作的重难点,传统暗渠探测方法:管道潜望镜(QV)探测方法适用于快速探测暗渠走向,地质雷达探测适用于埋深较浅暗渠,蛙人潜入式探测存在危险因素、且不适用于人不可进入环境等。基于同步定位与绘图(SLAM)技术的地下暗渠探测是一种快速、相对低成本,适应复杂场景的地下暗渠探测方法,满足空间狭小、地表杂物覆盖、埋深较深等复杂作业环境要求,达到快速采集数据、高精度的作业要求。该方法在广州市天河区地下暗渠摸查项目中得到应用和验证,点位中误差为0.12 m,边长较差中误差为0.05 m,效率和精度满足探测需求。Underground channel detection is difficult in river regulation.The traditional channel detection method:QV mirror detection method is suitable for rapid detection of channel trend,geological radar detection is suitable for shallow buried canals,and frog diver detection has risk factors and is not suitable for the inaccessible environment.The underground channel detection based on simultaneous localization and mapping(SLAM)technology is a fast,relatively low-cost underground channel detection method suitable for the complex scene of underground canals,which meets the requirements of complex working environment such as narrow space,surface debris coverage and deep burial depth,and meets the requirements of rapid data collection and high precision.This method was applied and verified in the underground channel inspection project in Tianhe District,Guangzhou,the mean square error of point position was 0.12 m,and the mean square error of length was 0.05 m,the efficiency and accuracy could meet the detection needs.

关 键 词：河涌整治 地下暗渠 同步定位与绘图 激光扫描 点云处理 

分 类 号：P258[天文地球—测绘科学与技术]