Application of Laser SLAM Technology in Backpack Indoor Mobile Measurement System

4th International Conference on Advances in Energy Resources and Environment Engineering

能源学;生态环境科学

Chen, Huanjian^1 ; Yu, Peidong^1

College of Geomatics, Shandong University of Science and Technology, Qingdao, Shandong

266590, China^1

关键词: Application of laser;    Combination of lasers;    Combination technology;    Map constructions;    Mobile measurement systems;    Mobile measurements;    Real time acquisition;    Simultaneous localization and mapping technologies;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/237/3/032026/pdf
DOI  :  10.1088/1755-1315/237/3/032026

学科分类：环境科学（综合）

来源: IOP

【 摘 要 】

In the mobile measurement system, real-time acquisition of the precise pose of the carrier platform is the key to map construction. At present, the pose in outdoor mobile measurement is generally obtained by GNSS/INS combination technology. However, GNSS/INS combination technology is not suitable for the indoor scenes, and the simultaneous localization and mapping (SLAM) technology in the robot field can obtain high-precision pose by the combination of laser scanner and INS. Therefore, this paper proposes to apply laser SLAM technology to indoor mobile measurement systems. This paper designs a backpack-type mobile measurement system based on SLAM technology to measure the indoor scenes. The experimental results show that the indoor mobile measurement system combined with SLAM technology can obtain high-precision pose information and 3D integrated point cloud with indoor precision of 5-6 cm.