A robust and efficient mapping and positioning system
文献类型：会议论文
| 作者 | Hua Z(华智)2; Song JL(宋吉来)1; Du ZJ(杜振军)1 ; Liu MM( 刘明敏)1; Hu, Jintao1
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| 出版日期 | 2021 |
| 会议日期 | July 27-31, 2021 |
| 会议地点 | Jiaxing, China |
| 页码 | 414-419 |
| 英文摘要 | We designed a lightweight SLAM system for mapping and positioning in complex environments. The real-time mapping and localization (SLAM) framework we built is mainly divided into two parts: front-end optimization, and back-end closed-loop detection. In the first part of the front-end optimization, a random sampling consensus algorithm is used for ground segmentation and adding ground constraint is to prevent map from bending. In the second part of closed-loop detection, an improved text scanning algorithm is used to optimize the back-end pose. The entire SLAM framework is highly adaptable to the scene, has the characteristics of lightweight and high robustness. © 2021 IEEE. |
| 源文献作者 | IEEE Robotics and Automation Society ; Shenyang Institute of Automation CAS ; Shenzhen Academy of Robotics |
| 产权排序 | 1 |
| 会议录 | 2021 IEEE 11th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 2642-6633 |
| ISBN号 | 978-1-6654-2527-8 |
| 源URL | [http://ir.sia.cn/handle/173321/29930]  |
| 专题 | 沈阳自动化研究所_其他 |
| 通讯作者 | Hua Z(华智) |
| 作者单位 | 1.Central Research Institute, SIASUN Robot Automation Co, Ltd, Shenyang City, Liaoning 110168, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences University, Shenyang City, Liaoning, 110016, China |
| 推荐引用方式 GB/T 7714 | Hua Z,Song JL,Du ZJ,et al. A robust and efficient mapping and positioning system[C]. 见:. Jiaxing, China. July 27-31, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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