视觉和激光SLAM发展综述与展望.docxVIP

视觉和激光SLAM发展综述与展望

目录

1.内容概括................................................3

1.1研究背景.............................................3

1.2研究意义.............................................5

1.3文章结构.............................................6

2.视觉SLAM概述............................................7

2.1视觉SLAM的基本原理...................................9

2.2视觉SLAM的关键技术..................................10

2.2.1相机标定与参数估计..............................11

2.2.2特征提取与匹配..................................12

2.2.3地图构建与优化..................................14

2.2.4闭环检测与回环修复..............................15

3.激光SLAM概述...........................................17

3.1激光SLAM的基本原理..................................19

3.2激光SLAM的关键技术..................................20

3.2.1激光雷达数据预处理..............................22

3.2.2点云配准与空间变换..............................23

3.2.3地图构建与优化..................................25

3.2.4闭环检测与回环修复..............................26

4.视觉与激光SLAM的融合...................................27

4.1融合的必要性........................................29

4.2融合方法与技术......................................30

4.2.1数据融合算法....................................31

4.2.2模型融合方法....................................33

4.2.3实时性优化......................................35

5.视觉SLAM的最新进展.....................................36

5.1基于深度学习的视觉SLAM..............................38

5.2多传感器融合视觉SLAM................................39

5.3实时视觉SLAM........................................40

6.激光SLAM的最新进展.....................................42

6.1基于深度学习的激光SLAM..............................44

6.2多传感器融合激光SLAM................................45

6.3实时激光SLAM........................................47

7.视觉和激光SLAM的应用...................................49

7.1移动机器人导航......................................51

7.2自动驾驶............................................52

7.3工业自动化..........................................54

7.4地理信息系统........