基于背负式多激光系统的室内二维与三维构图-计算机技术专业论文.docxVIP

关键词：同时定位与地图构建，6-DOF位姿，扩展卡尔曼滤波，二维地图构建，三维地图构建 关键词：同时定位与地图构建，6-DOF位姿，扩展卡尔曼滤波，二维地图构建， 三维地图构建 II 万方数据 AbstractIndoor Abstract Indoor mobile mapping is receiving more and more attention during recent years， among which the problems of simultaneous localization and mapping(SLAM)is the important issues．By means of SLAM obtain the surrounding map and the self-localization of mapping system，which play high application value in indoor navigation，virtual reality and detection of mine environment．Since there is excessive interference information in indoor environment，along with the shield of buildings，the indoor mapping system could not carry out the absolute positioning of system by using GPS and other equipment，which means that the SLAM in indoor environment iS a difficult issue This article built a backpack mapping system，consists of three integral modules 2D SLAM”module．”6-DOF pose estimation”module and”3D mapping”module This system based multiple laser scanner,solved the SLAM in indoor environment， and obtained the two and three dimensional map of indoor environment．”2D SLAM module uses RBPF-SLAM solution，makes full use of high accuracy and high resolution of laser scanner to build accurate 2D grid map and estimate 3·DOF pose information of system in a 2D plane．For the sake of obtaining six degrees of freedom (6-DOF for short，including the locations x，Y and of system in space，and the three angles in space such roll，yaw and pitching)during the contraction process of three dimensional map to describe the pose information of mapping system in space， 6-DOF pose estimation”module obtained the post information of mapping system in overall coordination system through integrating the liner acceleration of three directions and angle acceleration in three angles that obtained by two dimensional pose and Inertial Measurement Unit(IMU for short)based on Extended Kalman Filter-based(EKF for short)method．In the”3D mapping”module，6-DOF pose information has been used to optimize the init