Summary of Laser Real-time Positioning and Mapping Algorithm
Laser simultaneous localization and mapping(SLAM)algorithm is widely used in the fields of robot navigation and au-tonomous driving;The technique can use lidar to scan the environment and extract feature points,realize the autonomous positioning and map construction of the robot;The robotic laser SLAM technology is researched to analyze the underlying principles of the vari-ous laser SLAM algorithms,and summarize the mainstream SLAM algorithm;According to the characteristics and principles of the laser SLAM algorithm,The laser SLAM algorithm is divided into the filter-based algorithm,graph optimization-based algorithm,registration-based algorithm,learning-based algorithm and other algorithms;Based on the above classification,It introduces the ad-vantages and disadvantages of each algorithm in detail,and describes the main research results of the past two years;For the research status of laser SLAM algorithm in mobile robot,the future development of the laser SLAM algorithm is discussed.
real-time positioning and construction drawingfeature extractionmatchingoptimizationfuture development
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