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宗文鹏; 李广云; 李明磊; 王力; 李帅鑫

doi:10.3788/CO.20181106.0914

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doi: 10.3788/CO.20181106.0914

信息工程大学, 河南郑州 450001

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:[email protected]

中图分类号:TP24
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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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Information Engineering University, Zhengzhou 450001, China

Funds:

National Natural Science Foundation of China41274014

National Natural Science Foundation of China41501491

More Information

Corresponding author: ZONG Wen-peng, E-mail:[email protected]

摘要

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。
- 激光扫描匹配 /
- 点云配准 /
- 同步定位与地图构建 /
- 激光雷达
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

HTML全文

图 1 模块化ICP算法流程图

Figure 1. Pipeline of modular ICP

下载: 全尺寸图片幻灯片

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

下载: 全尺寸图片幻灯片

图 3 P2D-NDT扫描匹配方法流程图

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

下载: 全尺寸图片幻灯片

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	小	/	大
运行速度	慢	快	较快
能否辅助闭环检测	不能	能	能
鲁棒性	较差	较好	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

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