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.
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.
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