多传感融合的激光雷达SLAM及应用进展  

Advancement in multi-sensor fusion for LiDAR SLAM and its applications

作　　者：杜博文 倪晓昌[1] 孔维敬[1] 王雅清 DU Bowen;NI Xiaochang;KONG Weijing;WANG Yaqing(School of Electronic Engineering,Tianjin University of Technology and Education,Tianjin 300000,China)

机构地区：[1]天津职业技术师范大学电子工程学院,天津300000

出　　处：《天津职业技术师范大学学报》2023年第3期1-5,I0002,共6页Journal of Tianjin University of Technology and Education

基　　金：天津市科技计划项目(20YDTPJC02010);天津市教委科研计划项目(2021KJ003).

摘　　要：针对单一传感器的激光雷达实时同步定位和建图(simultaneous localization and mapping,SLAM)无法满足在复杂环境下使用的问题,文章研究了2种多传感器融合方案,解构几种经典的激光雷达SLAM算法框架,分析了多传感融合在激光雷达SLAM中的作用,展示了多传感融合激光SLAM的相关典型应用,为多传感融合的激光SLAM算法在复杂场景下的应用提供借鉴。The single-sensor LiDAR SLAM(simultaneous localization and mapping)can hardly be used in complex environments.This paper proposed two multi-sensor fusion schemes,deconstructed several classical LiDAR SLAM algorithm frameworks and analyzed the functions of multi-sensor fusion in LiDAR SLAM.The typical application of multi-sensor fusion LiDAR SLAM is presented,providing insights for the application of multi-sensor fusion LiDAR SLAM algorithm to complex scenarios.

关 键 词：定位与建图 激光雷达 多传感器融合 移动机器人 

分 类 号：TN958.98[电子电信—信号与信息处理] TP212[电子电信—信息与通信工程]