摘要
使用激光雷达在动态场景下实现精确的位姿估计与地图映射是同时定位与建图(sim-ultaneous localization and mapping,SLAM)研究领域的重要内容之一,但动态环境中物体移动会导致SLAM算法精度下降,为此提出一种低成本且可有效剔除动态影响的激光雷达SLAM算法。首先引入深度图投影,通过检测相邻时刻深度图之间的像素值波动,筛选并去除动态点云;然后进行地面点云分割,利用非地面点云的特征实现位姿估计和地图映射,利用地面点云的特征施加地面约束,限制高度漂移;最后引入回环检测矫正全局姿态。实验结果表明,与LOAM、LeGO-LOAM和SuMa算法相比,本文算法可更有效剔除动态目标,提供更优秀的定位建图效果和鲁棒性能。
To achieve LiDAR-based precise pose estimation and mapping in dynamic environments is a big challenge in the field of simultaneous localization and mapping(SLAM).Dynamic objects can significantly interfere with a robots environmental perception and autonomous navigation.To address the decline in SLAM accuracy caused by moving objects in dynamic environments,this study proposes a low-cost yet effective LiDAR SLAM algorithm to eliminate dynamic interference.The algorithm introduces depth map projection to identify and remove dynamic point clouds by de-tecting pixel value fluctuations between consecutive depth maps.Ground point cloud segmentation is then performed,leveraging non-ground point cloud features for pose estimation and mapping.Ground point cloud features are utilized to impose ground constraints,mitigating height drift.Addi-tionally,loop closure detection is incorporated to correct global pose drift.Experimental results demonstrate that,compared to LOAM,LeGO-LOAM,and SuMa,the proposed algorithm more ef-fectively filters out dynamic objects,delivering superior localization and mapping performance with enhanced robustness.
作者
冯迎宾
李亚玮
王天龙
曾城锋
FENG Yingbin;LI Yawei;WANG Tianlong;ZENG Chengfeng(Shenyang Ligong University,Shenyang 110159,China;Institute for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China)
出处
《沈阳理工大学学报》
2025年第5期1-7,共7页
Journal of Shenyang Ligong University
基金
辽宁省科学技术计划项目(2023JH2/10700006)。
关键词
同时定位与建图
激光雷达
动态剔除
全局优化
simultaneous localization and mapping
LiDAR
dynamic removal
global optimization
