基于重力约束正态分布变换的室内3维地图重建方法

doi:DOI: 10.16183/j.cnki.jsjtu.2018.01.005

上海交通大学学报（自然版） ›› 2018, Vol. 52 ›› Issue (1): 26-32.doi: DOI: 10.16183/j.cnki.jsjtu.2018.01.005

基于重力约束正态分布变换的室内3维地图重建方法

戚明旭a,b，杨明a,b，王春香c，王冰a,b

上海交通大学 a. 自动化系; b. 上海市北斗导航与位置服务重点实验室； c. 机器人研究所，上海200240

出版日期:2018-01-01 发布日期:2018-01-01
基金资助:
国家自然科学基金重大研究计划项目（91420101），国家磁约束核聚变能研究专项（2012GB102002）资助

3D Map Reconstruction in Indoor Environment Based on Normal Distribution Transformation Under Gravity Constraint

QI Mingxua,b,YANG Minga,b,WANG Chunxiangc,WANG Binga,b

a. Department of Automation; b. Shanghai Key Laboratory of Navigation and Location Services; c. Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China

Online:2018-01-01 Published:2018-01-01

摘要/Abstract

摘要： 提出一种基于改进正态分布变换的室内3维地图离线重建方法.通过加入重力方向约束来矫正地图形变，采用循环梯度配准方法提高配准成功率，并结合图优化的后端优化算法对所建地图进行优化.同时，采用摆动单线激光获取室内点云原始数据并进行实验，以验证所提方法的正确性.结果表明，利用该地图重建方法能够建立高精度的室内3维地图.

关键词: 室内3维地图, 重建, 重力约束, 正态分布变换, 循环梯度配准, 图优化

Abstract: A method for offline reconstruction of indoor 3D map is proposed based on an improved normal distribution transform (NDT) algorithm. First, a constraint in the gravity direction is incorporated into a 3D NDT, so that map deformation in extra dimensions is rectified. Then a cyclic gradient matching scheme is proposed to deal with the matching error resulted from scarce overlap between consecutive frames. Finally, a graph optimization is adopted in the back-end map construction. By using a swinging laser, experiments validate its performance and high accuracy.

Key words: indoor 3D map, reconstruction, gravity constraint, normal distributions transform (NDT), cyclic gradient matching, graph optimization

中图分类号:

TP 391.41

戚明旭a,b，杨明a,b，王春香c，王冰a,b. 基于重力约束正态分布变换的室内3维地图重建方法[J]. 上海交通大学学报（自然版）, 2018, 52(1): 26-32.

QI Mingxua,b,YANG Minga,b,WANG Chunxiangc,WANG Binga,b. 3D Map Reconstruction in Indoor Environment Based on Normal Distribution Transformation Under Gravity Constraint[J]. Journal of Shanghai Jiaotong University, 2018, 52(1): 26-32.

参考文献

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基于重力约束正态分布变换的室内3维地图重建方法

3D Map Reconstruction in Indoor Environment Based on Normal Distribution Transformation Under Gravity Constraint

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