LIDAR AND STEREO CAMERA DATA FUSION IN UAV MOTION FOR SLAM MAPPING
An unmanned aerial vehicle equipped with a sing sensor cannot construct an accurate map when UAV is moving at high speed.To handle this issue,a mapping method based on the fusion of LiDAR and stereo sensor is proposed.LiDAR was used to obtain the remote environment information,and the boundary of objects was extracted to reduce data redundancy,so as to realize the construction of the pre-map.The improved feature pyramid method was used to extract the near information of the UAV perceived by the stereo camera quickly,which improved the running efficiency with the parallel computing of LiDAR pre-map.The visual features and LiDAR pre-map were fused to build a 2D map.The experiments show that the proposed method can build more reliable and accurate environment map under different speed of UAV,which provides location information for fast UAV to avoid obstacles in real time.
UAVSimultaneous location and mappingSensor fusionFeature extractionPyramid method
国家科技期刊平台
NSTL
万方数据
维普
