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Proceedings Paper

Research of cartographer laser SLAM algorithm
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Paper Abstract

As the indoor is a relatively closed and small space, total station, GPS, close-range photogrammetry technology is difficult to achieve fast and accurate indoor three-dimensional space reconstruction task. LIDAR SLAM technology does not rely on the external environment a priori knowledge, only use their own portable lidar, IMU, odometer and other sensors to establish an independent environment map, a good solution to this problem. This paper analyzes the Google Cartographer laser SLAM algorithm from the point cloud matching and closed loop detection. Finally, the algorithm is presented in the 3D visualization tool RViz from the data acquisition and processing to create the environment map, complete the SLAM technology and realize the process of indoor threedimensional space reconstruction

Paper Details

Date Published: 15 November 2017
PDF: 9 pages
Proc. SPIE 10605, LIDAR Imaging Detection and Target Recognition 2017, 1060509 (15 November 2017); doi: 10.1117/12.2292864
Show Author Affiliations
Bo Xu, Chinese Academy of Surveying and Mapping (China)
CUMT (China)
Zhengjun Liu, Chinese Academy of Surveying and Mapping (China)
Yiran Fu, Chinese Academy of Surveying and Mapping (China)
Southwest Jiaotong Univ. (China)
Changsai Zhang, Chinese Academy of Surveying and Mapping (China)


Published in SPIE Proceedings Vol. 10605:
LIDAR Imaging Detection and Target Recognition 2017
Yueguang Lv; Weimin Bao; Weibiao Chen; Zelin Shi; Jianzhong Su; Jindong Fei; Wei Gong; Shensheng Han; Weiqi Jin; Jian Yang, Editor(s)

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