摘要
SLAM技术无需GNSS信号,在城市轨道交通工程测量、地下有限空间作业等多个测绘领域发挥积极作用。结合3D SLAM技术的背包测绘机器人是一个背负式系统,融合多种传感器,通过高动态非线性的运动采集方式,获得高精度的三维空间点云成果,在地下空间测绘具有很强的优势。本文结合城市轨道交通竣工测量相关要求,通过采用背包机器人对厦门某一在建地铁线路车站进行三维竣工测量,探讨背包扫描在车站竣工测量的可行性,并就扫描中存在的问题提出解决办法。
The SLAM technology does not need GPS signals,has strong adaptability to working environment and plays an active role in many surveying and mapping fields,such as the engineering survey of urban rail transit,the underground operation in limited space.The knapsack mapping robot combined with 3D SLAM technology is a backpack system,which integrates multiple sensors.The high-precision three-dimensional point cloud can be obtained through the gathering method in high dynamic and non-linear motion.It has a strong advantage in underground space mapping.In this paper,according to the requirements of the completion survey of urban rail transit,by using the backpack robot to carry out the three-dimensional completion survey of a subway station under construction in Xiamen,the feasibility of backpack scanning was discussed and the solutions were put forward to solve the problems existing in the scanning.
作者
耿长良
GENG Changliang(Beijing Urban Construction Exploration and Surveying Design Research Institute Company Limited,Beingjing 100101,China)
出处
《北京测绘》
2020年第10期1463-1467,共5页
Beijing Surveying and Mapping
关键词
3D
SLAM
背包机器人
竣工测量
城市轨道交通
three Dimensional(3D)SLAM
backpack robot
completion survey
urban rail transit
作者简介
耿长良(1979-),男,北京人,大学本科,高级工程师,从事地铁工程测量、市政工程测量、大型精密工程测量工作。E-mail:29555286@qq.com。
