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基于Octomap和拓扑地图的混合地图创建
发表时间：2018-05-31 浏览量：1305 下载量：530
| 全部作者： | 张欣，姜岩，龚建伟 |
| 作者单位： | 北京理工大学机械与车辆学院 |
| 摘 要： | 为减小在智能车辆行驶过程中地图的存储压力，提出一种基于Octomap和拓扑地图的混合地图创建方法。该算法通过激光雷达点云数据结合激光雷达里程计获得车辆位姿，进而生成Octomap；将开放街道地图（OpenStreetMap，OSM）中的一些有交通灯的路口作为节点生成拓扑地图；最后通过GPS定位将Octomap和拓扑地图进行关联，将拓扑地图中节点附近的Octomap注册到该节点，完成混合地图的创建。经验证，混合地图既能充分保留拓扑地图节点部分必要的细节信息，又能节省混合地图的整体存储空间。 |
| 关 键 词： | 自动控制技术；Octomap；开放街道地图；拓扑地图；混合地图 |
| Title： | Hybrid map constructed by Octomap and topological map |
| Author： | ZHANG Xin, JIANG Yan, GONG Jianwei |
| Organization： | School of Mechanical Engineering, Beijing Institute of Technology |
| Abstract： | To reduce the data size of map during driving of intelligent vehicle, a hybrid map constructed by Octomap and topological map is analyzed. With the pose estimation of the vehicle acquired from combination of lidar point cloud data and lidar odometer, lidar point cloud data can be transformed into Octomap. The intersections with traffic lights in the OpenStreetMap (OSM) are used as nodes to build topological map. Finally, the Octomap and topological map are connected by GPS positioning, Octomap is registered to its nearby node of the topological map, and the hybrid map is built. The experiments verified that the hybrid map could indeed preserve some of the necessary details of topological nodes while significantly save the bulk storage space. |
| Key words： | autocontrol technology; Octomap; OpenStreetMap (OSM); topological map; hybrid map |
| 发表期数： | 2018年5月第10期 |
| 引用格式： | 张欣，姜岩，龚建伟. 基于Octomap和拓扑地图的混合地图创建[J]. 中国科技论文在线精品论文，2018，11（10）：1014-1020. |
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