Laser Vision Fusion Localization Algorithm Based on Environment Judgment
In order to solve the problem of low positioning accuracy of SLAM systems in certain low texture or low obstacle scenes,a laser vi-sion fusion positioning algorithm based on environmental judgment is proposed.This algorithm compares the amount of information obtained by laser sensors and visual sensors to determine whether the current environment is favorable for laser sensors or visual sensors.Set a weight for each sensor and optimize the pose based on the weight of each sensor's information to improve positioning accuracy.In addition,due to the lim-ited texture information obtained by laser sensors,using laser sensors for loop detection results in significant errors.To improve the accuracy of loop detection,it is dynamically determined whether to use laser sensors or visual sensors for loop detection based on environmental judgment results,and then the robot pose is globally optimized to spread out errors.The experimental results show that in complex environments,the proposed algorithm has higher accuracy compared to the original algorithm.The errors in the three sequences of mh_02/easy,V1_02/medium,and V1_03-difficult are 0.031/0.025,0.040/0.037,and 0.036/0.033,respectively,which can fit the real trajectory well.
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