Aiming at the key technologies needed for the development of low-speed unmanned vehicles in outdoors,this paper dis-cusses the simultaneous localization and mapping technology of high-precision map and three-dimensional LiDAR,identifies the main difference of intelligent navigation between an outdoor environment and indoor environment;On the one hand,the indoor and outdoor environments are quite different,and the comprehensive treatment of dynamic and static obstacles is required,and traffic laws and regulations are also required.On the other hand,the outdoor environment also has high requirements for sensors,and poor global po-sitioning system(GPS)signals often lead to inaccurate positioning in outdoor situations.For the above problems,this paper intro-duces two important outdoor simultaneous localization and mapping(SLAM)development technologies.Firstly,the high-precision maps are applied,including the theoretical framework and map production method.Then,the more mature indoor SLAM algorithm including the limitations of the algorithm is discussed.And then,the major breakthrough algorithm and development status of the outdoor 3D SLAM method are introduced.Finally,the future development trend of outdoor SLAM technology is proposed.
关键词
室外环境/传感器/动静态障碍物/高精度地图/3D/SLAM
Key words
outdoor environment/sensors/dynamic and static obstacles/high-precision maps/3D SLAM
维普
万方数据