面向林地建图的激光惯导融合SLAM算法
Lidar Inertial Navigation Fusion SLAM Algorithm for Forest Land Mapping
激光惯导融合的同步定位与建图算法可以构建高精度的三维点云地图,为森林关键林木参数信息的获取提供可靠数据。为了解决现有基于平滑和建图的激光惯导里程计(Lidar Inertial Odometry via Smoothing and Mapping,LIO-SAM)难以提取树干特征和滤除地面点的问题,本文提出了基于平滑和建图的林业激光惯导里程计(Forestry Lidar Inertial Odometry via Smoothing and M…查看全部>>
The SLAM algorithm of lidar inertial navigation fusion can build a high-precision three-dimensional point cloud map and provide reliable data to acquire critical forest tree parameter information.The existing LIO-SAM is challenging to extract trunk features and filter ground points.We proposed F-LIO-SAM based on LIO-SAM to solve the problem.The algorithm proposed in this paper includes two innovations:a trunk feature extraction method using arc radius and a …查看全部>>
杨书航;邢艳秋;徐保伟;
S771.8
激光惯导融合 同步定位与建图 LIO-SAM 特征提取 地面滤除
Lidar and IMU fusion Simultaneous Localization and Mapping LIO-SAM Feature extraction Ground filtering
1635-1635 / 1
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