基于多线激光雷达的地图构建技术研究
Research on Map Construction Technology Based on Multi-line Li DAR
DOI: 10.12677/CSA.2022.1210229, PDF,    国家科技经费支持
作者: 杨 阳：天津工业大学软件学院，天津
关键词: 点云配准；迭代最近点；PL-ICP；PP-ICP；点云地图；Point Cloud Registration； Iterative Closest Point； PL-ICP； PP-ICP； Point Cloud Map
摘要: 基于激光雷达的三维点云地图构建过程中点云配准是一个重要的研究部分，目前点云配准主要采用传统迭代最近点算法(ICP)。由于传统迭代最近点算法使用点到点的配准方式，导致点云配准耗时长，容易产生误差造成点云配准精度低的问题。针对上述问题，本文在基于传统迭代最近点算法原理上结合Point-to-Line ICP (PL-ICP)算法与Point-to-Plane ICP (PP-ICP)算法提出了一种对ICP算法改良的方案。在点云帧间配准中，将寻找对应点集的配准方式改为点到线和点到面的方式进行点云配准，实验结果表明，本文提出的方法能够有效构建点云地图，减少了点云配准时间，具有良好的配准精度。
Abstract: Point cloud registration is an important part of 3D point cloud map construction based on mul-ti-linelidar. At present, traditional iterative nearest point algorithm (ICP) is mainly used for point cloud registration. For the traditional iterative nearest point algorithm, point cloud registration is time-consuming and error-prone, which leads to the low accuracy of point cloud registration. Based on the principle of traditional iterative nearest point algorithm, this paper proposes an improved ICP algorithm combining PL-ICP algorithm and PP-ICP algorithm. In the point cloud inter-frame registration, the registration method of finding the corresponding point set is changed to the point-to-line and point-to-surface methods for point cloud registration. The experimental results show that the method proposed in this paper can effectively construct a point cloud map. The point cloud registration time is reduced and the registration accuracy is good.
文章引用：杨阳. 基于多线激光雷达的地图构建技术研究[J]. 计算机科学与应用, 2022, 12(10): 2249-2258. https://doi.org/10.12677/CSA.2022.1210229

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