一种融合ESKF,g2o和点云匹配的紧耦合建图方法

Translated title of the contribution: Tightly-coupled graph building method fusing ESKF, g2o and point cloud matching

Wen Zhong Shi (Inventor), Sheng Bao (Inventor), Wengzheng FAN (Inventor), Mingyan Nie (Inventor)

Research output: Patents, agreements, assignments and companiesPatents granted

Abstract

本发明公开了一种融合ESKF,g2o和点云匹配的紧耦合建图方法,包括步骤:获取三维点云数据和惯性测量器件的输出数据;根据所述惯性测量器件的输出数据和状态误差卡尔曼滤波方程,确定匹配初始值;基于所述匹配初始值,对所述三维点云数据进行匹配,得到位姿关系;基于图优化通用框架,对所述位姿关系进行优化,得到帧位姿;基于所述帧位姿,对所述三维点云数据进行拼接,得到三维点云地图。由于使用状态误差卡尔曼滤波方程提供点云匹配的初始值进行匹配,并融合图优化通用框架进行优化,速度快,精度高,能有效提高点云匹配的精度和速度。
Translated title of the contributionTightly-coupled graph building method fusing ESKF, g2o and point cloud matching
Original languageChinese (Simplified)
Patent number2020113514051
Filing date26/11/20
Publication statusPublished - 21 Sep 2021

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