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激光扫描匹配方法研究综述

宗文鹏 李广云 李明磊 王力 李帅鑫

宗文鹏, 李广云, 李明磊, 王力, 李帅鑫. 激光扫描匹配方法研究综述[J]. 中国光学, 2018, 11(6): 914-930. doi: 10.3788/CO.20181106.0914
引用本文: 宗文鹏, 李广云, 李明磊, 王力, 李帅鑫. 激光扫描匹配方法研究综述[J]. 中国光学, 2018, 11(6): 914-930. doi: 10.3788/CO.20181106.0914
ZONG Wen-peng, LI Guang-yun, LI Ming-lei, WANG Li, LI Shuai-xin. A survey of laser scan matching methods[J]. Chinese Optics, 2018, 11(6): 914-930. doi: 10.3788/CO.20181106.0914
Citation: ZONG Wen-peng, LI Guang-yun, LI Ming-lei, WANG Li, LI Shuai-xin. A survey of laser scan matching methods[J]. Chinese Optics, 2018, 11(6): 914-930. doi: 10.3788/CO.20181106.0914

激光扫描匹配方法研究综述

doi: 10.3788/CO.20181106.0914
基金项目: 

国家自然科学基金项目 41274014

国家自然科学基金项目 41501491

详细信息
    作者简介:

    宗文鹏(1990-), 男, 山东济南人, 博士研究生, 2013年于西安交通大学获得学士学位, 2016年于信息工程大学获得硕士学位, 现为信息工程大学地理空间信息学院博士生, 主要从事多传感器组合定位与测图、导航定位与位置服务方面的研究。E-mail:la9881275@163.com

  • 中图分类号: TP24

A survey of laser scan matching methods

Funds: 

National Natural Science Foundation of China 41274014

National Natural Science Foundation of China 41501491

More Information
  • 摘要: 激光扫描匹配是利用激光雷达进行导航、定位与地图构建的基础,本文对各类激光扫描匹配方法进行了综述。将现有方法归纳为基于点的扫描匹配方法、基于特征的扫描匹配方法和基于数学特性的扫描匹配方法3类,系统总结了相应类型的常见方法;对典型的算法及其改进算法进行了梳理,并指出了存在的主要问题和发展趋势;介绍了激光扫描匹配方法性能评价和对比的最新研究进展,最后,展望了激光扫描匹配技术未来的研究方向。
  • 图  1  模块化ICP算法流程图

    Figure  1.  Pipeline of modular ICP

    图  2  基于特征的扫描匹配方法流程图

    Figure  2.  Pipeline of the feature-based scan matching method

    图  3  P2D-NDT扫描匹配方法流程图

    Figure  3.  Pipeline of the P2D-NDT based scan matching method

    表  1  典型扫描匹配方法的特点

    Table  1.   Features of typical scan matching methods

    特点 ICP类方法 基于特征的方法 NDT类方法
    是否需要迭代 需要 非必须 需要
    是否需要初值 需要 不需要 需要
    收敛域 /
    运行速度 较快
    能否辅助闭环检测 不能
    鲁棒性 较差 较好
    精度 高,受离群点和噪声影响较大 低,与特征提取精度有关 较高,与体素尺寸密切相关
    适用范围 广 结构化场景 广
    下载: 导出CSV
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  • 收稿日期:  2017-12-25
  • 修回日期:  2018-02-02
  • 刊出日期:  2018-12-01

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