基于LIDAR SLAM的离散居民点自主航空测绘系统的设计  

Design of Autonomous Aerial Mapping System for Discrete Settlements Based on LIDAR SLAM

作　　者：邓培荣 舒银兵 马晓初 Deng Peirong;Shu Yinbing;Ma Xiaochu(Xianyang Polytechnic Institute,Xianyang 712000,China;Huijin Technology Holding Group Co.,LTD.,Xi’an 712000,China;The Second Institute of Geographic Information Mapping,Ministry of Natural Resources,Harbin 150000,China)

机构地区：[1]咸阳职业技术学院,陕西咸阳712000 [2]汇金科技控股集团有限公司,西安710000 [3]自然资源部第二地理信息制图院,哈尔滨150000

出　　处：《黑龙江科学》2025年第6期91-93,共3页Heilongjiang Science

基　　金：咸阳职业技术学院2024年度科研基金资助项目“基于航测+SLAM的国土空间规划中离散居民点测绘技术研究”(2024KJC01);咸阳职业技术学院2024年度教育教学改革研究项目“无人机摄影测量典型生产实践项目建设与实践研究”(2024JYC04)。

摘　　要：提出一种基于LIDAR SLAM的离散居民点自主航空测绘系统,通过多传感器融合技术,实现对离散居民点的高精度测绘。航测系统利用无人机倾斜摄影测量技术实现大范围地形地物实时获取,结合SLAM算法对居民点进行补充测绘。系统架构分为外业阶段和内业阶段,外业部分采集数据、倾斜摄影及SLAM补测,内业部分对数据进行融合、优化与三维建模。展开实验进行评估,结果表明,系统在多种离散居民点环境中均表现出较高的测绘精度,满足复杂场景下的高精度测绘需求。The study proposes an autonomous aerial mapping system for discrete settlements based on LIDAR SLAM,so as to realize the high-precision mapping of discrete settlements through multi-sensor fusion technology.The aerial survey system uses the UAV tilt photogrammetry technology,achieves real-time acquisition of large-scale terrain and surface objects,and conducts supplementary mapping of residential places with SLAM algorithm.The system architecture is divided into field stage and interior stage.In the field stage,data collection,oblique photography and SLAM retest are conducted.In the interior stage,part fuses,optimization and 3D modeling are conducted.The evaluation of the experiment shows that the system represents high mapping accuracy in a variety of discrete residential environments,and meets the needs of high-precision mapping in complex scenes.

关 键 词：LIDAR SLAM 航空测绘系统 离散居民点绘制 地图构建 三维重建 

分 类 号：P225[天文地球—大地测量学与测量工程] TN967.2[天文地球—测绘科学与技术]