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SLAM (simultaneous localization and mapping) method combining GPS (global positioning system) and radar odometer

A technology of odometer and GPS data, applied in the field of computer vision, can solve problems such as the inability to realize the construction of a large-scale three-dimensional map of the city and the inability to obtain GPS data

Active Publication Date: 2019-03-22
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0003] The SLAM technology based on visual odometry or radar odometry cannot realize the construction of a large-scale three-dimensional map of the city due to the existence of cumulative errors.
Although the GPS-based SLAM technology has no cumulative error, in urban areas, due to building occlusion, signal interference and other reasons, reliable GPS data cannot be obtained in some places, so it is also impossible to realize the construction of a large-scale urban 3D map

Method used

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  • SLAM (simultaneous localization and mapping) method combining GPS (global positioning system) and radar odometer
  • SLAM (simultaneous localization and mapping) method combining GPS (global positioning system) and radar odometer
  • SLAM (simultaneous localization and mapping) method combining GPS (global positioning system) and radar odometer

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Embodiment Construction

[0034] The present invention will be further described below.

[0035] A SLAM (simultaneous localization and mapping, simultaneous positioning and mapping) method combining GPS and radar odometer, comprising the following steps:

[0036] 1) Data collection

[0037] Fix the relative position of XW-GI5651 (differential GPS mobile terminal) and VLP-16 LiDAR (a laser radar), output GPRMC data to VLP-16 LiDAR through XW-GI5651, realize the time stamp synchronization of the two on the hardware, and then Data collection;

[0038] Use differential GPS to collect longitude, latitude, altitude, RPY angle (Roll-roll angle, Pitch-pitch angle and Yaw-yaw angle, which represent the attitude of the lidar), timestamp (time of data collection); use lidar LiDAR collects point cloud data and time stamps.

[0039] 2) Process GPS data to obtain displacement (X, Y, Z) and attitude RPY angle

[0040] Process the data returned by GPS to obtain the required displacement and attitude.

[0041] (X,...

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Abstract

An SLAM (simultaneous localization and mapping) method combining GPS (global positioning system) and radar odometer comprises the steps of 1) acquiring differential GPS data and point cloud data fromlaser radar; 2) processing the GPS data to obtain displacement (X, Y, Z) and attitude RPY (rolling, pitching and yawing) angles; 3) matching the GPS data and point cloud data of LiDAR by means of timestamp aligning; 4) checking reliability of the GPS data according to the attitude data from GPS processing of step 2) and the point cloud data of LiDAR; 5) using a LOAM (Lidar odometry and mapping) method to acquire (X, Y, Z) and RPY angles; 6) in a place with reliable GPS data, using the GPS-acquired attitude as a final attitude; in a section with unreliable GPS data, using GPS attitudes of startpoint and endpoint of the section to optimize the attitude of the LOAM method to acquire a final attitude; 7) using the attitude output in step 6) to transform point cloud data of laser radar to a world coordinate system to obtain a final global map. The method herein is suitable for construction of large-range city three-dimensional maps.

Description

technical field [0001] The present invention relates to computer vision technology, especially a SLAM (simultaneous localization and mapping, simultaneous localization and mapping) method. Background technique [0002] SLAM technology refers to the technology that a robot can simultaneously construct a map of the surrounding environment and locate its position in the map in an unfamiliar environment. SALM technology has many applications, such as automatic driving, robot positioning and navigation, etc. [0003] The SLAM technology based on visual odometry or radar odometry cannot realize the construction of a large-scale three-dimensional map of the city due to the existence of accumulated errors. Although GPS-based SLAM technology has no cumulative error, in urban areas, due to building occlusion, signal interference and other reasons, reliable GPS data cannot be obtained in some places, and thus it is impossible to realize the construction of a large-scale urban 3D map. ...

Claims

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Application Information

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IPC IPC(8): G01S17/02G01S17/89G01S19/42G01S19/53G09B29/00
CPCG01S17/86G01S17/89G01S19/42G01S19/53G09B29/005
Inventor 张剑华林瑞豪吴佳鑫冯宇婷徐浚哲陈胜勇
Owner ZHEJIANG UNIV OF TECH
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