Research of cartographer laser SLAM algorithm

Bo Xu; Zhengjun Liu; Yiran Fu; Changsai Zhang

doi:10.1117/12.2292864

15 November 2017 Research of cartographer laser SLAM algorithm

Bo Xu, Zhengjun Liu, Yiran Fu, Changsai Zhang

Proceedings Volume 10605, LIDAR Imaging Detection and Target Recognition 2017; 1060509 (2017) https://doi.org/10.1117/12.2292864
Event: LIDAR Imaging Detection and Target Recognition 2017, 2017, Changchun, China

Abstract

As the indoor is a relatively closed and small space, total station, GPS, close-range photogrammetry technology is difficult to achieve fast and accurate indoor three-dimensional space reconstruction task. LIDAR SLAM technology does not rely on the external environment a priori knowledge, only use their own portable lidar, IMU, odometer and other sensors to establish an independent environment map, a good solution to this problem. This paper analyzes the Google Cartographer laser SLAM algorithm from the point cloud matching and closed loop detection. Finally, the algorithm is presented in the 3D visualization tool RViz from the data acquisition and processing to create the environment map, complete the SLAM technology and realize the process of indoor threedimensional space reconstruction

Citation Download Citation

Bo Xu, Zhengjun Liu, Yiran Fu, and Changsai Zhang "Research of cartographer laser SLAM algorithm", Proc. SPIE 10605, LIDAR Imaging Detection and Target Recognition 2017, 1060509 (15 November 2017); https://doi.org/10.1117/12.2292864

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