Research on Positioningand Mapping Method Based on 3D LiDAR SLAM
Addressing the challenge of inaccurate GNSS positioning within indoor environments, this study employs a 3D LiDAR SLAM algorithm to achieve high-accuracy positioning and simultaneously generate meticulous 3D point cloud maps. The paper's primary fo-cus involves four key aspects: preprocessing of sensor data, front-end matching for LiDAR SLAM, back-end optimization for LiDAR SLAM, and the construction of 3D point cloud maps.The efficiencyof the 3D LiDAR SLAM algorithm is verified through the creation of an experimental platform and the implementation of positioning and map production experiments within real-world scenarios. The out-comes of these experiments demonstrate that within intricate indoor scenes, the 3D LiDAR SLAM achieves decimeter levelpositioning accuracywhile map production accuracy reaches the centimeter level.
万方数据
维普
