Patent
A loop detection method based on point cloud segment matching constraint and trajectory drift optimization
Zhang Jianhua,Jiaxin Wu,Feng Yuting,Wang Zengyuan,Lin Ruihao,Chen Shengyong +5 more
- 26 Mar 2019
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TL;DR: In this paper, a loopback detection method based on point cloud segment matching constraint and trajectory drift optimization is proposed, which adopts real-time lidar odometer and LOAM system.
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Abstract: A loopback detection method based on point cloud segment matching constraint and trajectory drift optimization is proposed, which adopts real-time lidar odometer and LOAM system, but the LOAM system will have large drift after long-time mapping, so a method based on point cloud segment matching constraint and trajectory drift optimization is proposed. By segmenting, describing and matching the point cloud acquired by lidar, the loop relationship is found, and the loop is adjusted by using explicit loop closure ELCH algorithm after the loop is found, and an optimization algorithm is proposed toeliminate the local inconsistencies in the adjustment process of point cloud map. After optimization, the invention proposes a posture prediction and compensation algorithm to predict and compensatethe posture after the loop. So as to maximize the effect of reducing drift error.
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Citations
Patent
Data preprocessing method, map construction method, loopback detection method and system
Zhou Fengyu,Wan Fang,Chen Ke,Liu Meizhen,Gu Panlong,Zhuang Wenmi,Yu Bangguo,Yang Zhiyong,Bian Junjian +8 more
- 23 Jul 2019
TL;DR: In this paper, a data preprocessing method, a map construction method and a loop detection method and system is presented, which comprises a pre-training stage: constructing and training an object recognition pretraining network, a pixel segmentation network and an attribute decision tree; a preprocessing stage: inputting the image data into an object identification network, and identifying an object type and a position frame thereof.
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