An Improved A-LOAM 3D Mapping Method Based on Ultra-wide Field Angle of Multi-line Lidar
发布时间：2025-01-07 点击次数：
DOI码：10.1109/geoinformatics57846.2022.9963800
所属单位：School of Remote Sensing and Information Engineering, Wuhan University, China
发表刊物：International Conference on Geoinformatics
关键字：Indoor positioning systems,Mapping,3-D mapping,Dual-threshold ground filtering A-LOAM,Field angle,Ground filtering,Large field angle,Larger fields,Mapping method,Matchings,Point-clouds,Spatial 3d mapping,Optical radar,dual-threshold ground filtering A-LOAM,large field angle,lidar,spatial 3D mapping
摘要：Inter-frame matching of laser point clouds is the key to SLAM's autonomous positioning and 3D map construction. Aiming at the failure of inter frame matching of multi-line lidar SLAM during fast field of view conversion, this paper proposes a spatial 3D mapping method using 180 degree large-field-angle lidar to improve A-LOAM. Firstly, the nonground feature points are obtained by dual-threshold ground filtering, and a novel point cloud feature extraction method based on curvature is used to realize the feature point matching of large-field-angle point cloud; Secondly, using the matching methods of edge point to edge line and plane point to plane block, through the robust frame matching of large-field-angle point cloud data, the spatial 3D mapping is realized; Finally, three-dimensional mapping experiments are carried out on the large-field-angle point cloud data collected in different scenes. The results show that the spatial 3D mapping based on robust frame matching of large-field-angle lidar can reach the accuracy of nearly centimeter level in indoor scene and decimeter level in outdoor scene. It has application prospects in 3D mapping and other fields. © 2022 IEEE.
合写作者：Zhao, Honggang, Xuan,Wu, Tianni, Qingwu,Yang,Wang,Hu, Pengcheng
论文类型：会议论文
学科门类：工学
文献类型：C
卷号：2022-August
ISSN号：2161-024X
是否译文：否
CN号：Scopus:2-s2.0-85143898742
发表时间：2022-08-15
