一种改进的体素化邻近点搜索算法  

An improved voxelized generalized iterative closest point search algorithm

作　　者：周思达 宋一鸣 唐嘉宁 胡敏森 许俊锋 ZHOU Sida;SONG Yiming;TANG Jianing;HU Minsen;XU Junfeng(School of Electrical and Information Technology,Yunnan Minzu University,Kunming 650000,China)

机构地区：[1]云南民族大学电气信息工程学院,昆明650000

出　　处：《重庆理工大学学报（自然科学）》2023年第7期201-207,共7页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(61963038;62063035)。

摘　　要：针对多传感器同时建图与定位SLAM(simultaneous localization and mapping)系统,在室外大面积特征过多环境中,因为特征不匹配而导致的精度误差、系统缺失鲁棒性等问题,提出一种改进的体素化邻近点搜索(voxelized generalized iterative closest point)算法。首先利用激光-惯导-视觉各传感器分别对不同环境感知可以优势互补的特点,提出一种特征可信性筛选方法,给予系统一个精确的初始猜测。然后将视觉特征子集通过深度信息与点云数据关联,通过加入视觉约束筛选可观测性高的体素化的目标点云群,在减少计算复杂度的情况下,使定位建图更加精确。仿真实验证明,当运用此算法的多传感器融合SLAM系统在特征点云较多的环境中建图时,与LVI-SAM系统对比定位误差减少12.335%;在运行线速度超过10 m/s时,提升了系统的鲁棒性,具有较强的可行性。In an outdoor environment with too many features in a large area,problems like accuracy errors and lack of robustness of a simultaneous localization and mapping(SLAM)system with multiple sensors may occur because of feature mismatch.In this view,this paper proposes an improved voxelized generalized iterative closest point(VGICP)method.Firstly,a feature credibility screening method is proposed to provide the system with an accurate initial guess by using the complementary characteristics of laser-inertial navigation-vision sensors to perceive different environments.Then,the visual feature subset is associated with the point cloud data through depth information,and the voxelized target point cloud group with high observability is screened by adding visual constraints,which makes the positioning and mapping more accurate while reducing the computational complexity.The simulation experiments show that,when the SLAM system based on multi-sensor fusion builds maps in an environment with more feature point clouds,the positioning accuracy improves by 12.335%compared with that of LVI-SAM system.When the operation linear speed exceeds 10 m/s,the robustness of the system is improved,which has strong feasibility.

关 键 词：多传感器融合 体素化邻近点搜索 体素化点云群 视觉特征子集 特征可信性筛选 

分 类 号：V249[航空宇航科学与技术—飞行器设计]