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

doi:10.3788/CO.20181106.0914

Volume 11 Issue 6

Dec. 2018

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Chinese Optics > 2018 > 11(6): 914-930.

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

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

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A survey of laser scan matching methods

doi: 10.3788/CO.20181106.0914

Information Engineering University, Zhengzhou 450001, China

Funds:

National Natural Science Foundation of China 41274014

National Natural Science Foundation of China 41501491

More Information

Corresponding author: ZONG Wen-peng, E-mail:la9881275@163.com
Received Date: 25 Dec 2017
Rev Recd Date: 02 Feb 2018
Publish Date: 01 Dec 2018

Abstract

Abstract

Laser scan matching is a foundation for navigation, localization and mapping using Light Detection and Ranging(LiDAR). Various laser scan matching methods are reviewed in detail in this paper. The existing methods are divided into three categories:point-based scan matching method, feature-based scan matching method and mathematical property-based scan matching method, and the common algorithms of corresponding categories are summarized systematically. The typical algorithms and their improved algorithms are outlined, the main issues and development trends are discussed. Then, the latest research progress of performance evaluation and comparison of laser scan matching methods is introduced. Finally, the future research directions of laser scan matching technology are prospected.
- laser scan matching,
- point cloud registration,
- SLAM,
- LiDAR

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References(107)

References

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