摘要
同步定位与建图技术(SLAM)一直是移动机器人领域比较热门的研究方向,它可以给机器人提供强大的环境感知能力;传统的依靠外部位置参考来定位的方法如果无法获得时,移动机器人需要即时定位自身位置来构建增量式地图,因此SLAM技术也就应运而生;对激光SLAM和视觉SLAM的研究现状及最新标志性成果进行了介绍,重点对以相机与激光雷达融合、相机与IMU融合、激光雷达与IMU融合为代表的多传感器融合SLAM技术展开讨论、系统地梳理了几种融合方式的优势与不足,同时介绍了该领域的研究热点语义SLAM,最后讨论了SLAM技术在该领域未来的发展方向以及存在的挑战。
Simultaneous Localization and Mapping(SLAM)always is the popular research direction in the field of mobile robots.It can provide robots with powerful environmental perception capabilities.If the traditional localization method relying on external location reference is not available,the mobile robot needs to build incremental maps by locating its own position in time.Therefore,the SLAM technology comes into being.Introduces the new research status and the latest landmark achievements of laser SLAM and visual SLAM,and focus on discussing the multi-sensor fusion SLAM technology,which is represented by camera and lidar fusion,camera and Inertial Measurement Unit(IMU)fusion,and lidar and IMU fusion,and systematically sort out the advantages and disadvantages of several fusion methods.At the same time,the research hotspot of semantic SLAM in this field is introduced.Finally,it is disscussed that the future development direction of SLAM technology in this field and the existing challenges.
作者
任伟建
高强
康朝海
霍凤财
张志强
REN Weijian;GAO Qiang;KANG Chaohai;HUO Fengcai;ZHANG Zhiqiang(Department of Electrical Information Engineering,Northeast Petroleum University,Daqing 163318,China;Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control,Daqing 163318,China)
出处
《计算机测量与控制》
2022年第2期1-10,37,共11页
Computer Measurement &Control
基金
国家自然科学基金资助项目(61933007,61873058)
黑龙江省自然科学基金(F2018004,F2018005)。
作者简介
任伟建(1963-),女,黑龙江大庆人,教授,博士生导师,主要从事油气集输过程故障诊断方向的研究;通讯作者:康朝海(1976-),男,黑龙江望奎人,副教授,硕士生导师,主要从事智能控制、模式识别、复杂系统与控制等方向的研究。
