Alternative Title3D point cloud mapping based on closed-loop detection
付光耀; 周海; 卞春江; 陈宇
Source Publication传感器与微系统
Volume39Issue:9Pages:53; AR:2096-2436(2020)39:9<53:JYBHJC>2.0.TX;2-C
Keyword自动驾驶 建图 闭环检测 三维点云 automatic drive mapping closed-loop detection 3D point cloud
Abstract提出了一种基于闭环检测的适用于室外三维点云地图创建的方法,该方法具有高分辨率、低误差的优点。在公共数据集和室外真实环境下进行了三维点云建图实验。实验结果表明:建图分辨率达到了0.05 m且平均误差率在0.44 %以内,具有良好的可行性和准确性,能够为自动驾驶等相关领域提供精确可靠的数据来源。
Other AbstractAiming at this problem,a method based on closed-loop detection for outdoor 3D point cloud map creation is proposed,3D point cloud construction experiment in public dataset and outdoor real environment is performed.The experimental results show that the method achieves resolution of mapping reach 0.05m,and the average error rate is within 0.44 %.It has good feasibility and accuracy,it can provide accurate and reliable source of data for self-driving.
Indexed ByCSCD
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Document Type期刊论文
Affiliation1.付光耀, 中国科学院国家空间科学中心
2.中国科学院大学, 北京
3.北京 100190
4.100049, 中国.
5.周海, 中国科学院国家空间科学中心, 北京 100190, 中国.
6.卞春江, 中国科学院国家空间科学中心, 北京 100190, 中国.
7.陈宇, 中国科学院国家空间科学中心, 北京 100190, 中国.
8.Fu Guangyao, National Space Science Center of Chinese Academy of Sciences
9.University of Chinese Academy of Sciences, Beijing
10.Beijing 100190
12.Zhou Hai, National Space Science Center of Chinese Academy of Sciences, Beijing 100190, China.
13.Bian Chunjiang, National Space Science Center of Chinese Academy of Sciences, Beijing 100190, China.
14.Chen Yu, National Space Science Center of Chinese Academy of Sciences, Beijing 100190, China.
Recommended Citation
GB/T 7714
付光耀,周海,卞春江,等. 基于闭环检测的三维点云地图创建[J]. 传感器与微系统,2020,39(9):53; AR:2096-2436(2020)39:9<53:JYBHJC>2.0.TX;2-C.
APA 付光耀,周海,卞春江,&陈宇.(2020).基于闭环检测的三维点云地图创建.传感器与微系统,39(9),53; AR:2096-2436(2020)39:9<53:JYBHJC>2.0.TX;2-C.
MLA 付光耀,et al."基于闭环检测的三维点云地图创建".传感器与微系统 39.9(2020):53; AR:2096-2436(2020)39:9<53:JYBHJC>2.0.TX;2-C.
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