电光与控制, 2023, 30 (3): 78, 网络出版: 2023-04-03   

同步定位与建图技术研究进展

Research Progress of SLAM Technology
作者单位
1 湖北工业大学,武汉 430000
2 湖北省农机装备智能化工程技术研究中心, 武汉 430000
摘要
同步定位与建图(SLAM)技术是自主移动机器人的主要技术支撑, 成为当今的研究热点。介绍了SLAM 技术的发展历程及主要传感器, 梳理了基于视觉、激光雷达以及多传感器融合的SLAM技术, 并对常见的SLAM算法进行归纳总结, 对比分析各实现方案的优缺点。最后探讨了SLAM的技术难题和发展趋势。
Abstract
Simultaneous Localization and Mapping(SLAM) technology is the main technical support of autonomous mobile robot and has become a research hotspot today.The development history and main sensors of SLAM technology are introduced, then the SLAM technology based on vision, lidar and multi-sensor fusion is sorted out, and the common SLAM algorithms are summarized.The advantages and disadvantages of each implementation scheme are compared and analyzed.Finally, the technical problems and development trends of SLAM are discussed.
参考文献

[1] 胡春旭.ROS机器人开发实践[M].北京:机械工业出版社,2018:497-506.

[2] 高翔,张涛,刘毅,等.视觉SLAM十四讲[M].北京:电子工业出版社,2017:10-23.

[3] DURRANT-WHYTE H, BAILEY T.Simultaneous localization and mapping:part I[J].IEEE Robotics & Automation Magazine, 2006, 13(2):99-110.

[4] BAILEY T, DURRANT-WHYTE H.Simultaneous localization and mapping(SLAM):part Ⅱ[J].IEEE Robotics & Automation Magazine, 2006, 13(3):108-117.

[5] CADENA C, CARLONE L, CARRILLO H, et al.Past, pres-ent, and future of simultaneous localization and mapping:toward the robust-perception age[J].IEEE Transactions on Robotics, 2016, 32(6):1309-1332.

[6] 陈常,朱华,由韶泽.基于视觉的同时定位与地图构建的研究进展[J].计算机应用研究,2018, 35(3):641-647.

[7] 田野,陈宏巍,王法胜,等.室内移动机器人的SLAM算法综述[J].计算机科学,2021, 48(9):223-234.

[8] 刘鑫,王忠,秦明星.多机器人协同SLAM技术研究进展[J].计算机工程2022, 48(5):1-10.

[9] 吴建清,宋修广.同步定位与建图技术发展综述[J].山东大学学报(工学版),2021, 51(5):16-31.

[10] WU J Q, HAO X, ZHENG J Y.Automatic background filtering and lane identification with roadside LiDAR data[C]//IEEE 20th International Conference on Intelligent Transportation Systems (ITSC).Yokohama:IEEE, 2017:1-6.

[11] 祝朝政,何明,杨晟,等.单目视觉里程计研究综述[J].计算机工程与应用,2018, 54(7):20-28, 55.

[12] 谭静, 赵健康, 崔超.基于双目视觉与IMU的组合导航算法[J].计算机工程与设计,2021, 42(2):442-448.

[13] HUANG S D, DISSANAYAKE G.Convergence analysis for extended Kalman filter based SLAM[C]//Proceedings of IEEE International Conference on Robotics and Automation, 2006.ICRA 2006.Orlando:IEEE, 2006:412-417.

[14] SMITH R, SELF M, CHEESEMAN P.Estimating uncertain spatial relationships in robotics[M]//INGEMAR J C, GORDON T W.Autonomous robot vehicles.New York:Springer, 1990:167-193.

[15] 施明瑞.基于激光SLAM的移动机器人动态路径规划研究[D].重庆: 重庆邮电大学,2020.

[16] SMITH R, SELF M, CHEESEMAN P C.A stochastic map for uncertain spatial relationships[C]//Proceedings of the 4th International Symposium on Robotics Research.Cambridge:MIT Press, 1988:467-474.

[17] SMITH R, CHEESEMAN P.On the representation and estimation of spatial uncertainty[J].The International Journal of Robotics Research, 1986, 5(4):56-68.

[18] JULIER S J, UHLMANNJ K, DURRANT-WHYTE H F.A new method for the nonlinear transformation of means and covariances in filters and estimators[J].IEEE Transations on Automatic Control, 2000, 45(3):477-482.

[19] 赵新洋.基于激光雷达的同时定位与室内地图构建算法研究[D].哈尔滨:哈尔滨工业大学,2017.

[20] GORDON N J, SALMOND D J, SMITH A F M.Novel approach to nonlinear/non-Gaussian Bayesian state estimation[J].IEE Proceedings on Radar and Signal Processing, 1993, 140(2):107-113.

[21] DOUCET A, FREITAS D N, MURPHY K, et al.Rao-Blackwellised particle filtering for dynamic Bayesian networks[C]//Proceedings of the Sixteenth Conference on Uncertainty in Artificial Intelligence(UAI2000).San Francisco:arXiv Preprint, 2013:176-183.

[22] MONTEMERLO M, THRUN S, KOLLER D, et al.Fast-SLAM:a factored solution to the simultaneous localization and mapping problem[C]//Proceedings of the AAAI National Conference on Artificial Intelligence.[S.l.]:AAAI, 2002:593-598.

[23] MONTEMERLO M, THRUN S, ROLLER D, et al.Fast-SLAM 2.0:an improved particle filtering algorithm for simultaneous localization and mapping that provably converges[C]//International Joint Conference on Artificial Intelligence.Burlington:Morgan Kaufmann Publishers Inc., 2003:1151-1156.

[24] 危双丰,庞帆,刘振彬,等.基于激光雷达的同时定位与地图构建方法综述[J].计算机应用研究,2020,37(2):327-332.

[25] GRISETTI G, STACHNISS C, BURGARD W.Improved techmiques for grid mapping with Rao-Blackwellized particle filters[J].IEEE Transactions on Robotics, 2007, 23(1):34-46.

[26] BLANCO J L, GONZALEZ J, FERNANDEZ-MADRIGAL J A.Optimal filtering for non-parametric observation mo-dels:applications to localization and SLAM[J].International Journal of Robotics Research, 2010, 29(14):1726-1742.

[27] LU F, MILIOS E.Globally consistent range scan alignment for environ-globally consistent range scan alignment for environment mapping[J].Autonomous Robots, 1997, 4(4):333-349.

[28] KONOLIGE K, GRISETTI G, KMMERLE R, et al.Efficient sparse pose adjustment for 2D mapping[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Taipei:IEEE, 2010:22-29.

[29] KOHLBRECHER S, STRYK O V, MEYER J, et al.A flexible and scalable SLAM system with full 3D motion estimation[C]//IEEE International Symposium on Safety, Security, and Rescue Robotics.Kyoto:IEEE, 2011:155-160.

[30] HESS W, KOHLER D, RAPP H, et al.Real-time loop closure in 2D LIDAR SLAM[C]//IEEE International Conference on Robotics and Automation(ICRA).Stockholm:IEEE, 2016:1271-1278.

[31] ZHANG J, SINGH S.LOAM:lidar odometry and mapping in real-time[C]//Robotics:Science and Systems Conference.Berkeley:[s.n.], 2014:1-9.

[32] DESCHAUD J E.IMLS-SLAM:scan-to-model matching based on 3D data[C]//IEEE International Conference on Robotics and Automation(ICRA).Brisbane:IEEE, 2018:2480-2485.

[33] BEHLEY J, STACHNISS C.Efficient surfel-based SLAM using 3D laser range data in urban environments[C]//Robotics:Science and Systems 2018.[S.l.]:[s.n.], 2018:1-10.

[34] SHAN T X, ENGLOT B.LeGO-LOAM:lightweight and ground-optimized lidar odometry and mapping on variable terrain[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).Madrid:IEEE, 2018:4758-4765.

[35] KOIDE K.A portable 3D lidar-based system for long-term and wide-area people behavior measurement[J].International Journal of Advanced Robotic Systems, 2019, 16(2):1-13.

[36] SHAN T X, ENGLOT B, MEYERS D, et al.LIO-SAM:tightly-coupled lidar inertial odometry via smoothing and mapping[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).Las Vegas:IEEE, 2020:5135-5142.

[37] LI B, WANG Y Q, ZHANG Y, et al.Correction to:GP-SLAM:laser-based SLAM approach based on regionalized Gaussian process map reconstruction[J].Autonomous Robots, 2020, 44(6):947-967.

[38] 李博.GP-SLAM: 基于激光雷达的新型同时定位与建图算法[D].杭州: 浙江大学,2020.

[39] ZHOU P W, GUO X X, PEI X F, et al.T-LOAM:truncated least squares LiDAR-only odometry and mapping in real time[J].IEEE Transactions on Geoscience and Remote Sensing, 2021, 60(99):1-13.

[40] DAVISON A J.Real-time simultaneous localisation and mapping with a single camera[C]//Proceedings of the Ninth IEEE International Conference on Computer Vision.Nice:IEEE, 2003:1403-1410.

[41] KLEIN G, MURRAY D.Parallel tracking and mapping for small AR workspaces[C]//The 6th IEEE and ACM International Symposium on Mixed and Augmented Reality.Nara:IEEE, 2007:225-234.

[42] MUR-ARTAL R, MONTIEL J M M, TARDOS J D.ORB-SLAM:a versatile and accurate monocular SLAM system[J].IEEE Transactions on Robotics, 2015, 31(5):1147-1163.

[43] MUR-ARTAL R, TARDS J D.ORB-SLAM2:an open- source SLAM system for monocular, stereo, and RGB-D cameras[J].IEEE Transactions on Robotics, 2017, 33(5):1255-1262.

[44] CAMPOS C, ELVIRA R, RODRGUEZ J J G, et al.ORB-SLAM3:an accurate open-source library for visual, visual-inertial and multi-map SLAM[J].IEEE Transactions on Robotics, 2021, 37(6):1874-1890.

[45] NEWCOMBE R A, LOVEGROVE S J, DAVISON A J.DTAM:dense tracking and mapping in real-time[C]//IEEE International Conference on Computer Vision.Barcelona:IEEE, 2011:2320-2327.

[46] 权美香,朴松昊,李国.视觉SLAM综述[J].智能系统学报,2016, 11(6):768-776.

[47] ENGEL J, SCHPS T, CREMERS D.LSD-SLAM:large-scale direct monocular SLAM[C]//European Conference on Computer Vision.Cham: Springer, 2014:834-849.

[48] FORSTER C, PIZZOLI M, SCARAMUZZA D.SVO:fast semi-direct monocular visual odometry[C]//IEEE International Conference on Robotics and Automation(ICRA).HongKong:IEEE, 2014:5-22.

[49] ENGEL J, KOLTUN V, CREMERS D.Direct sparse odo-metry[J].IEEE Transactions on Pattern Analysis & Machine Intelligence, 2016, 40(3):611-625.

[50] 秦莹莹.基于视觉SLAM的定位导航关键技术研究[D].杭州: 浙江大学,2020.

[51] 王旒军,陈家斌,余欢,等.RGB-D SLAM综述[J].导航定位与授时,2017,4(6):9-18.

[52] NEWCOMBE R A, IZADI S, HILLIGES O, et al.KinectFusion:real-time dense surface mapping and tracking[C]//The 10th IEEE International Symposium on Mixed and Augmented Reality.Basel:IEEE, 2011:127-136.

[53] 房德国,王伟,李自然,等.VIO-SLAM综述[J].电光与控制,2020,27(12):58-62.

[54] MOURIKIS A I, ROUMELIOTIS S I.A multi-state constraint Kalman filter for vision-aided inertial navigation[C]//IEEE International Conference on Robotics and Automation.Rome:IEEE, 2007: 3565-3572.

[55] LEUTENEGGER S, LYNEN S, BOSSE M, et al.Keyframe-based visual-inertial odometry using nonlinear optimization[J].International Journal of Robotics Research, 2014, 34(3):314-334.

[56] BLOESCH M, BURRI M, OMARI S, et al.Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback[J].The International Journal of Robotics Research, 2017, 36(10):1053-1072.

[57] QIN T, LI P L, SHEN S J, et al.VINS-Mono:a robust and versatile monocular visual-inertial state estimator[J].IEEE Transactions on Robotics, 2018, 34(4):1004-1020.

[58] ZHANG J, SINGH S.Visual-lidar odometry and mapping:low-drift, robust, and fast[C]//IEEE International Conference on Robotics & Automation.Seattle:IEEE, 2015:2174-2181.

[59] LU D.Vision-enhanced lidar odometry and mapping[D].Pittsburgh:Carnegie Mellon University, 2016.

[60] ZHANG J, SINGH S.Laser-visual-inertial odometry and mapping with high robustness and low drift[J].Journal of Field Robotics, 2018, 35(8):1242-1264.

[61] GRAETER J, WILCZYNSKI A, LAUER M.LIMO:lidar-monocular visual odometry[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS).Madrid: IEEE, 2018:7872-7879.

马志艳, 邵长松, 杨光友, 李辉. 同步定位与建图技术研究进展[J]. 电光与控制, 2023, 30(3): 78. MA Zhiyan, SHAO Changsong, YANG Guangyou, LI Hui. Research Progress of SLAM Technology[J]. Electronics Optics & Control, 2023, 30(3): 78.

本文已被 2 篇论文引用
被引统计数据来源于中国光学期刊网
引用该论文: TXT   |   EndNote

相关论文

加载中...

关于本站 Cookie 的使用提示

中国光学期刊网使用基于 cookie 的技术来更好地为您提供各项服务,点击此处了解我们的隐私策略。 如您需继续使用本网站,请您授权我们使用本地 cookie 来保存部分信息。
全站搜索
您最值得信赖的光电行业旗舰网络服务平台!