CN109522832A - 一种基于点云片段匹配约束和轨迹漂移优化的回环检测方法 - Google Patents
一种基于点云片段匹配约束和轨迹漂移优化的回环检测方法 Download PDFInfo
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Cited By (11)
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CN110046677A (zh) * | 2019-04-26 | 2019-07-23 | 山东大学 | 数据预处理方法、地图构建方法、回环检测方法及系统 |
CN110415281A (zh) * | 2019-07-30 | 2019-11-05 | 西安交通大学深圳研究院 | 一种基于Loam曲率加权的点集刚体配准方法 |
CN110689622A (zh) * | 2019-07-05 | 2020-01-14 | 电子科技大学 | 一种基于点云分割匹配闭环校正的同步定位与构图算法 |
CN111409104A (zh) * | 2020-03-27 | 2020-07-14 | 伯朗特机器人股份有限公司 | 工业机器人位姿特性中位姿特性漂移的测量方法 |
CN111583369A (zh) * | 2020-04-21 | 2020-08-25 | 天津大学 | 一种基于面线角点特征提取的激光slam方法 |
CN111578957A (zh) * | 2020-05-07 | 2020-08-25 | 泉州装备制造研究所 | 基于三维点云地图定位的智能车纯追踪循迹方法 |
CN112731358A (zh) * | 2021-01-08 | 2021-04-30 | 奥特酷智能科技(南京)有限公司 | 一种多激光雷达外参在线标定方法 |
CN112990040A (zh) * | 2021-03-25 | 2021-06-18 | 北京理工大学 | 一种结合全局和局部特征的鲁棒回环检测方法 |
CN114353589A (zh) * | 2021-09-08 | 2022-04-15 | 西安电子科技大学 | 一种导弹中轴线提取及起飞漂移量测量装置及方法 |
CN115375870A (zh) * | 2022-10-25 | 2022-11-22 | 杭州华橙软件技术有限公司 | 回环检测优化方法、电子设备及计算机可读存储装置 |
CN117808882A (zh) * | 2024-02-29 | 2024-04-02 | 上海几何伙伴智能驾驶有限公司 | 退化场景下基于多传感器融合的slam漂移检测与补偿方法 |
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CN107869989A (zh) * | 2017-11-06 | 2018-04-03 | 东北大学 | 一种基于视觉惯导信息融合的定位方法及系统 |
CN108303710A (zh) * | 2018-06-12 | 2018-07-20 | 江苏中科院智能科学技术应用研究院 | 基于三维激光雷达的无人机多场景定位建图方法 |
CN108682027A (zh) * | 2018-05-11 | 2018-10-19 | 北京华捷艾米科技有限公司 | 基于点、线特征融合的vSLAM实现方法及系统 |
US20180315232A1 (en) * | 2017-05-01 | 2018-11-01 | Lockheed Martin Corporation | Real-time incremental 3d reconstruction of sensor data |
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US20180315232A1 (en) * | 2017-05-01 | 2018-11-01 | Lockheed Martin Corporation | Real-time incremental 3d reconstruction of sensor data |
CN107655473A (zh) * | 2017-09-20 | 2018-02-02 | 南京航空航天大学 | 基于slam技术的航天器相对自主导航系统 |
CN107869989A (zh) * | 2017-11-06 | 2018-04-03 | 东北大学 | 一种基于视觉惯导信息融合的定位方法及系统 |
CN108682027A (zh) * | 2018-05-11 | 2018-10-19 | 北京华捷艾米科技有限公司 | 基于点、线特征融合的vSLAM实现方法及系统 |
CN108303710A (zh) * | 2018-06-12 | 2018-07-20 | 江苏中科院智能科学技术应用研究院 | 基于三维激光雷达的无人机多场景定位建图方法 |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110046677A (zh) * | 2019-04-26 | 2019-07-23 | 山东大学 | 数据预处理方法、地图构建方法、回环检测方法及系统 |
CN110689622A (zh) * | 2019-07-05 | 2020-01-14 | 电子科技大学 | 一种基于点云分割匹配闭环校正的同步定位与构图算法 |
CN110415281B (zh) * | 2019-07-30 | 2022-04-22 | 西安交通大学深圳研究院 | 一种基于Loam曲率加权的点集刚体配准方法 |
CN110415281A (zh) * | 2019-07-30 | 2019-11-05 | 西安交通大学深圳研究院 | 一种基于Loam曲率加权的点集刚体配准方法 |
CN111409104A (zh) * | 2020-03-27 | 2020-07-14 | 伯朗特机器人股份有限公司 | 工业机器人位姿特性中位姿特性漂移的测量方法 |
CN111409104B (zh) * | 2020-03-27 | 2022-11-04 | 伯朗特机器人股份有限公司 | 工业机器人位姿特性中位姿特性漂移的测量方法 |
CN111583369A (zh) * | 2020-04-21 | 2020-08-25 | 天津大学 | 一种基于面线角点特征提取的激光slam方法 |
CN111583369B (zh) * | 2020-04-21 | 2023-04-18 | 天津大学 | 一种基于面线角点特征提取的激光slam方法 |
CN111578957A (zh) * | 2020-05-07 | 2020-08-25 | 泉州装备制造研究所 | 基于三维点云地图定位的智能车纯追踪循迹方法 |
CN111578957B (zh) * | 2020-05-07 | 2022-05-10 | 泉州装备制造研究所 | 基于三维点云地图定位的智能车纯追踪循迹方法 |
CN112731358B (zh) * | 2021-01-08 | 2022-03-01 | 奥特酷智能科技(南京)有限公司 | 一种多激光雷达外参在线标定方法 |
CN112731358A (zh) * | 2021-01-08 | 2021-04-30 | 奥特酷智能科技(南京)有限公司 | 一种多激光雷达外参在线标定方法 |
CN112990040B (zh) * | 2021-03-25 | 2022-09-06 | 北京理工大学 | 一种结合全局和局部特征的鲁棒回环检测方法 |
CN112990040A (zh) * | 2021-03-25 | 2021-06-18 | 北京理工大学 | 一种结合全局和局部特征的鲁棒回环检测方法 |
CN114353589A (zh) * | 2021-09-08 | 2022-04-15 | 西安电子科技大学 | 一种导弹中轴线提取及起飞漂移量测量装置及方法 |
CN114353589B (zh) * | 2021-09-08 | 2022-10-04 | 西安电子科技大学 | 一种导弹中轴线提取及起飞漂移量测量装置及方法 |
CN115375870A (zh) * | 2022-10-25 | 2022-11-22 | 杭州华橙软件技术有限公司 | 回环检测优化方法、电子设备及计算机可读存储装置 |
CN115375870B (zh) * | 2022-10-25 | 2023-02-10 | 杭州华橙软件技术有限公司 | 回环检测优化方法、电子设备及计算机可读存储装置 |
CN117808882A (zh) * | 2024-02-29 | 2024-04-02 | 上海几何伙伴智能驾驶有限公司 | 退化场景下基于多传感器融合的slam漂移检测与补偿方法 |
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Denomination of invention: Loop detection method based on point cloud fragment matching constraints and trajectory drift optimization Granted publication date: 20211026 Pledgee: Guotou Taikang Trust Co.,Ltd. Pledgor: HANGZHOU HUICUI INTELLIGENT TECHNOLOGY CO.,LTD. Registration number: Y2024980004919 |
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