论文标题
当几何不够
When Geometry is not Enough: Using Reflector Markers in Lidar SLAM
论文作者
论文摘要
基于激光雷达的SLAM系统通过依靠环境的几何形状在各种情况下表现良好。但是，当环境包含诸如长走廊之类的无结构区域时，即使成熟而可靠的方法也很困难。为了允许在此类环境中使用基于激光雷达的大满贯，我们建议在特定位置添加反射器标记，否则这将是困难的。我们提出了一种可靠地检测到这些标记的算法，并使用两种方法将检测标记与基于几何的扫描匹配融合在一起。在几个工业环境的实际数据集中证明了所提出的方法的性能。
Lidar-based SLAM systems perform well in a wide range of circumstances by relying on the geometry of the environment. However, even mature and reliable approaches struggle when the environment contains structureless areas such as long hallways. To allow the use of lidar-based SLAM in such environments, we propose to add reflector markers in specific locations that would otherwise be difficult. We present an algorithm to reliably detect these markers and two approaches to fuse the detected markers with geometry-based scan matching. The performance of the proposed methods is demonstrated on real-world datasets from several industrial environments.
