移动式建图方法依赖高精度的光纤惯导和里程计进行位姿计算,而在实际工程实践中里程计精度难以满足应用需求,导致获取的工作面三维激光点云不完整.针对该问题,提出了一种基于激光SLAM的综采工作面实时三维建图方法.该方法主要包括激光点云去畸变,特征提取,位姿估计,优化建图等步骤.通过惯导数据消除激光点云的畸变,根据点...
移动式建图方法依赖高精度的光纤惯导和里程计进行位姿计算,而在实际工程实践中里程计精度难以满足应用需求,导致获取的工作面三维激光点云不完整.针对该问题,提出了一种基于激光SLAM的综采工作面实时三维建图方法.该方法主要包括激光点云去畸变,特征提取,位姿估计,优化建图等步骤.通过惯导数据消除激光点云的畸变,根据点...
In order to solve this problem, a real-time 3D mapping method of fully mechanized working face based on laser SLAM is proposed. The method mainly comprises the steps of distortion removal of laser point cloud, feature extraction, position and attitude estimation and optimizat...