Research on 3D laser SLAM algorithm based on graph optimization

Aiming at the problems that the positioning accuracy of laser Simultaneous Localization and Mapping (SLAM) is affected by the misclassification of close feature points and incorrect feature matching in the environment with redundant features, a 3D laser SLAM algorithm based on graph optimization was...

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Veröffentlicht in:Journal of physics. Conference series Jg. 2880; H. 1; S. 12001 - 12005
Hauptverfasser: Wang, Binhao, Liu, Jianwei, Kuang, Bing, Li, Yuwei, Luo, Xianfeng
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Bristol IOP Publishing 01.10.2024
Schlagworte:
Accuracy
Adaptive algorithms
Algorithms
Error analysis
Feature extraction
Inertial coordinates
Laser guidance
Lasers
Lidar
Localization
Matching
Odometers
Optimization
Optoelectronics
Simultaneous localization and mapping
Three dimensional models
ISSN:1742-6588, 1742-6596
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Zusammenfassung:Aiming at the problems that the positioning accuracy of laser Simultaneous Localization and Mapping (SLAM) is affected by the misclassification of close feature points and incorrect feature matching in the environment with redundant features, a 3D laser SLAM algorithm based on graph optimization was proposed. Firstly, to reduce the feature extraction error problem, the distance threshold is used to filter the close point cloud and improve the accuracy of feature classification, enhanced reliability of optoelectronic measurement data. Secondly, to improve the consistency of feature matching, based on the rough matching based on k-dimensional tree (KD-Tree), a two-stage fine matching based on geometric consistency is introduced to improved laser point alignment accuracy. The proposed method is compared with the mainstream localization algorithms based on KITTI dataset. Compared with Lidar-IMU Odometry with Sparse Adaptive Mapping and Fast LiDAR-Inertial Odometry, the positioning error of the proposed method is reduced by 21.88%and 24.43%on average, which showsthe superiority of the present algorithm in the application of optoelectronics and optical technology, and provides new ideas and methods for the development of high-precision laser navigation technology.
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ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2880/1/012001