CN115031718A - 一种多传感器融合的无人船同步定位与建图方法(slam)及*** - Google Patents
一种多传感器融合的无人船同步定位与建图方法(slam)及*** Download PDFInfo
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- CN115031718A CN115031718A CN202210575283.7A CN202210575283A CN115031718A CN 115031718 A CN115031718 A CN 115031718A CN 202210575283 A CN202210575283 A CN 202210575283A CN 115031718 A CN115031718 A CN 115031718A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000013507 mapping Methods 0.000 title claims abstract description 31
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 29
- 230000004927 fusion Effects 0.000 title claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 22
- 238000010276 construction Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 9
- 230000008859 change Effects 0.000 claims description 23
- 230000009466 transformation Effects 0.000 claims description 23
- 239000007787 solid Substances 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 8
- 238000005457 optimization Methods 0.000 claims description 8
- 238000013519 translation Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
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- 230000006872 improvement Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
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CN202210575283.7A CN115031718B (zh) | 2022-05-25 | 2022-05-25 | 一种多传感器融合的无人船同步定位与建图方法(slam)及*** |
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CN202210575283.7A CN115031718B (zh) | 2022-05-25 | 2022-05-25 | 一种多传感器融合的无人船同步定位与建图方法(slam)及*** |
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CN115031718A true CN115031718A (zh) | 2022-09-09 |
CN115031718B CN115031718B (zh) | 2023-10-31 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116736327A (zh) * | 2023-08-10 | 2023-09-12 | 长沙智能驾驶研究院有限公司 | 定位数据优化方法、装置、电子设备和可读存储介质 |
CN117215309A (zh) * | 2023-09-27 | 2023-12-12 | 河南工业大学 | 无人车粮库清扫***的定位与建图方法、定位与建图装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180075643A1 (en) * | 2015-04-10 | 2018-03-15 | The European Atomic Energy Community (Euratom), Represented By The European Commission | Method and device for real-time mapping and localization |
CN112862894A (zh) * | 2021-04-12 | 2021-05-28 | 中国科学技术大学 | 一种机器人三维点云地图构建与扩充方法 |
CN113340295A (zh) * | 2021-06-16 | 2021-09-03 | 广东工业大学 | 一种多个测距传感器的无人艇近岸实时定位与建图方法 |
CN113670316A (zh) * | 2021-08-27 | 2021-11-19 | 广州市工贸技师学院(广州市工贸高级技工学校) | 基于双雷达的路径规划方法、***、存储介质及电子设备 |
CN114080625A (zh) * | 2020-06-19 | 2022-02-22 | 深圳市大疆创新科技有限公司 | 绝对位姿确定方法、电子设备及可移动平台 |
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2022
- 2022-05-25 CN CN202210575283.7A patent/CN115031718B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180075643A1 (en) * | 2015-04-10 | 2018-03-15 | The European Atomic Energy Community (Euratom), Represented By The European Commission | Method and device for real-time mapping and localization |
CN114080625A (zh) * | 2020-06-19 | 2022-02-22 | 深圳市大疆创新科技有限公司 | 绝对位姿确定方法、电子设备及可移动平台 |
CN112862894A (zh) * | 2021-04-12 | 2021-05-28 | 中国科学技术大学 | 一种机器人三维点云地图构建与扩充方法 |
CN113340295A (zh) * | 2021-06-16 | 2021-09-03 | 广东工业大学 | 一种多个测距传感器的无人艇近岸实时定位与建图方法 |
CN113670316A (zh) * | 2021-08-27 | 2021-11-19 | 广州市工贸技师学院(广州市工贸高级技工学校) | 基于双雷达的路径规划方法、***、存储介质及电子设备 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116736327A (zh) * | 2023-08-10 | 2023-09-12 | 长沙智能驾驶研究院有限公司 | 定位数据优化方法、装置、电子设备和可读存储介质 |
CN116736327B (zh) * | 2023-08-10 | 2023-10-24 | 长沙智能驾驶研究院有限公司 | 定位数据优化方法、装置、电子设备和可读存储介质 |
CN117215309A (zh) * | 2023-09-27 | 2023-12-12 | 河南工业大学 | 无人车粮库清扫***的定位与建图方法、定位与建图装置 |
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CN115031718B (zh) | 2023-10-31 |
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