CN113358112B - 一种地图构建方法及一种激光惯性里程计 - Google Patents
一种地图构建方法及一种激光惯性里程计 Download PDFInfo
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- CN113358112B CN113358112B CN202110618535.5A CN202110618535A CN113358112B CN 113358112 B CN113358112 B CN 113358112B CN 202110618535 A CN202110618535 A CN 202110618535A CN 113358112 B CN113358112 B CN 113358112B
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
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CN113850864B (zh) * | 2021-09-14 | 2024-04-12 | 中南大学 | 一种面向室外移动机器人的gnss/lidar回环检测方法 |
CN114018284B (zh) * | 2021-10-13 | 2024-01-23 | 上海师范大学 | 一种基于视觉的轮速里程计校正方法 |
CN114170320B (zh) * | 2021-10-29 | 2022-10-28 | 广西大学 | 一种基于多传感器融合的打桩机自动定位和工况自适应方法 |
CN115493579A (zh) * | 2022-09-02 | 2022-12-20 | 松灵机器人(深圳)有限公司 | 定位修正方法、装置、割草机器人以及存储介质 |
CN115200588B (zh) * | 2022-09-14 | 2023-01-06 | 煤炭科学研究总院有限公司 | 移动机器人的slam自主导航方法及其装置 |
CN115326068B (zh) * | 2022-10-17 | 2023-01-24 | 北京理工大学 | 激光雷达-惯性测量单元融合里程计设计方法及*** |
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CN106570454B (zh) * | 2016-10-10 | 2019-06-11 | 同济大学 | 基于移动激光扫描的行人交通参数提取方法 |
IL250382B (en) * | 2017-01-31 | 2021-01-31 | Arbe Robotics Ltd | A radar-based system and method for real-time simultaneous positioning and mapping |
CN110261870B (zh) * | 2019-04-15 | 2021-04-06 | 浙江工业大学 | 一种用于视觉-惯性-激光融合的同步定位与建图方法 |
CN111105495A (zh) * | 2019-11-26 | 2020-05-05 | 四川阿泰因机器人智能装备有限公司 | 一种融合视觉语义信息的激光雷达建图方法及*** |
CN111583136B (zh) * | 2020-04-25 | 2023-05-23 | 华南理工大学 | 一种救援场景下自主移动平台同时定位与建图方法 |
CN111929699B (zh) * | 2020-07-21 | 2023-05-09 | 北京建筑大学 | 一种顾及动态障碍物的激光雷达惯导里程计与建图方法及*** |
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Denomination of invention: A Map Construction Method and a Laser Inertial Odometer Effective date of registration: 20230727 Granted publication date: 20230117 Pledgee: Haidian Beijing science and technology enterprise financing Company limited by guarantee Pledgor: Beijing Chaoxing Future Technology Co.,Ltd. Registration number: Y2023110000311 |
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