Introduction to Simultaneous Location and Mapping Algorithm based on Point-line Matching

Zhongbo Wang ； Wenhua Cui ； Ye Tao ； Tianwei Shi

《International Core Journal of Engineering》 8卷7期 (2022/07) Pp. 757-765

https://doi.org/10.6919/ICJE.202207_8(7).0100

摘要

Robot technology is becoming more and more influential in people's life. Robot positioning and acquiring surrounding information and building maps are important parts of the research and development of robot technology. This paper first introduces the development of the positioning and built figure technology background, then the laser radar sensor and its working principle, tells the story of the laser radar since movement distortion causes and solutions, and finally describes the acquisition of laser radar point cloud data processing method including segmentation of point cloud and almost to remove, Clustering method after point cloud data segmentation and matching method of two continuous point cloud frames based on point line matching.

關鍵字

Robotics ； Simultaneous Positioning and Mapping ； Point-Line Matching

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