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Journal of Software:2020.31(9):2678-2690

扫地机器人增强位姿融合的Cartographer算法及系统实现
张亮,刘智宇,曹晶瑛,沈沛意,蒋得志,梅林,朱光明,苗启广
(西安电子科技大学 计算机科学与技术学院, 陕西 西安 710071;上海宽带技术及应用工程研究中心, 上海 200436;北京石头世纪科技有限公司, 北京 100039)
Cartographer Algorithm and System Implementation Based on Enhanced Pose Fusion of Sweeping Robot
ZHANG Liang,LIU Zhi-Yu,CAO Jing-Ying,SHEN Pei-Yi,JIANG De-Zhi,MEI Lin,ZHU Guang-Ming,MIAO Qi-Guang
(School of Computer Science and Technology, Xidian University, Xi'an 710071, China;Shanghai Broadband Network Technology and Application Engineering Research Center, Shanghai 200436, China;Beijing Roborock Technology Co., Ltd, Beijing 100039, China)
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Received:June 27, 2019    Revised:August 18, 2019
> 中文摘要: Cartographer是谷歌在2016年开源的一个可以在多传感器配置下实现低计算资源消耗的SLAM算法框架.针对原有Cartographer中位姿融合不准确、存在延迟的问题,首先设计了一种基于位姿增量的多传感器位姿融合方法;随后,针对扫地机器人Player平台,设计并实现了基于增强Cartographer算法的多模块SLAM系统;最后,通过Cartographer数据集的实验分析和真实场景的实际测试,验证了增强Cartographer算法的有效性以及SLAM系统在Player机器人平台上的可用性.
Abstract:Cartographer is Google's 2016 open source SLAM algorithm framework for low computational resource consumption in multi-sensor configurations. In this study, due to the inaccurate middle posture fusion and delay of the original Cartographer, a multi- sensor posture fusion method based on posture increment was designed. Subsequently, the multi-module SLAM system based on enhanced Cartographer algorithm was designed and implemented for the cleaning robot Player platform. Finally, the effectiveness of the enhanced Cartographer algorithm and the usability of the SLAM system on the Player robot platform were verified by the experimental analysis of the Cartographer data set and the actual test of the real scenario.
文章编号:     中图分类号:TP242    文献标志码:
基金项目:国家自然科学基金(61401324,61305109);陕西省重点研发计划(2018ZDXM-GY-36) 国家自然科学基金(61401324,61305109);陕西省重点研发计划(2018ZDXM-GY-36)
Foundation items:National Natural Science Foundation of China (61401324, 61305109); Shaanxi Province Key Research and Development Program (2018ZDXM-GY-36)
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张亮,刘智宇,曹晶瑛,沈沛意,蒋得志,梅林,朱光明,苗启广.扫地机器人增强位姿融合的Cartographer算法及系统实现.软件学报,2020,31(9):2678-2690

ZHANG Liang,LIU Zhi-Yu,CAO Jing-Ying,SHEN Pei-Yi,JIANG De-Zhi,MEI Lin,ZHU Guang-Ming,MIAO Qi-Guang.Cartographer Algorithm and System Implementation Based on Enhanced Pose Fusion of Sweeping Robot.Journal of Software,2020,31(9):2678-2690