稀疏激光扫描点的自主移动机器人地图创建

在自主移动机器人实际地图创建中,针对迭代最近点(ICP)算法不符合一对一单映射关系的问题,提出一种稀疏扫描点的对应点对搜索方法.首先,在方向和位置上对相邻两次激光扫描点集进行粗配准;然后,对配准结果建立一种对应点对搜索机制,剔除无效对应点;最后,采用ICP算法对剩余数据进行精配准.结果表明:文中方法可有效处理无效对应点,提高算法的配准精度,在实际环境中具有准确性和有效性.

Map Creation of Autonomous Mobile Robot Using Sparse Laser Scanning Points

In the actual map creation of autonomous mobile robot, aiming at the problem that the iterative closest point(ICP)algorithm does not conform to the one-to-one mapping relationship, a corresponding point pair search method for sparse scanning points is proposed. Firstly, a coarse registration of the set of points between two adjacent laser scans in the orientation and position. Then, establish a corresponding point pair search mechanism for the registration result to eliminate invalid corresponding points. Finally, the ICP algorithm is applied to accurately register the remaining data. The experimental result shows that the proposed method can effectively deal with invalid corresponding points, improve the registration accuracy of the algorithm, and is accuracy and effectiveness in the actual environment.