Research on UAV Visual SLAM Construction Method Enhanced by Lidar
Simultaneous Localization and Mapping(SLAM)technology has been widely used in various au tonomous mobile platforms.According to the type of sensor used,it is mainly divided into SLAM schemes us ing visual sensors and SLAM schemes using lidar.The mapping effect of visual SLAM is more dependent on the illumination conditions in the environment,so the mapping effect of visual SLAM is better in outdoor en vironment and dynamic environment.In order to make the UAV autonomously perceive the changes of the surrounding environment at any time,and use the redundancy and complementary characteristics between vari ous sensors to obtain more abundant environmental information,so as to more accurately detect obstacles in the flight environment,a SLAM method for combination detection of single-line lidar and camera is designed.Firstly,the camera data is preprocessed,and then the external parameter matrix of the camera and lidar sensor is calibrated.Using the Cartographer algorithm,the camera is used to locate in the environment,and the obsta cles are detected by lidar.The feasibility and effectiveness of the proposed detection method are verified by setting up a Gazebo simulation environment.The simulation results show that the method can improve the ac curacy of environmental obstacle detection.
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