| 无人平台SLAM技术研究进展 |
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| 引用本文： | 王常虹,窦赫暄,陈晓东,赵新洋,刘博.无人平台SLAM技术研究进展[J].导航定位于授时,2019,6(4):12-19. |
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| 作者姓名： | 王常虹 窦赫暄 陈晓东 赵新洋 刘博 |
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| 作者单位： | 哈尔滨工业大学,哈尔滨,150001;上海机电工程研究所,上海,201109 |
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| 基金项目： | 青年科学基金（61703123） |
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| 摘 要： | 作为一种定位与感知方法,同时定位与建图(SLAM)是实现无人平台导航制导与控制的关键技术。阐述了SLAM技术的发展历史、研究现状与应用场景,分析并介绍了SLAM原理及其算法实现。此外,总结了若干SLAM领域的研究热点,并对SLAM技术的发展趋势进行了展望。
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| 关 键 词： | 无人移动平台 定位 感知 同时定位与建图 里程计 计算机视觉 |
Research Progress in Simultaneous Localization and Mapping for Unmanned Vehicles |
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| WANG Chang-hong,DOU He-xuan,CHEN Xiao-dong,ZHAO Xin-yang and LIU Bo.Research Progress in Simultaneous Localization and Mapping for Unmanned Vehicles[J].Navigation Positioning & Timing,2019,6(4):12-19. |
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| Authors: | WANG Chang-hong DOU He-xuan CHEN Xiao-dong ZHAO Xin-yang and LIU Bo |
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| Institution: | Harbin Institute of Technology, Harbin 150001, China,Harbin Institute of Technology, Harbin 150001, China,Shanghai Electro-Mechanical Engineering Institute, Shanghai 201109, China,Harbin Institute of Technology, Harbin 150001, China and Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | As a method of localization and perception, Simultaneous Localization And Mapping (SLAM) is a key technology to GN&C for unmanned vehicles. In this survey, the basis and the evolution of SLAM technology are described, and the implementations of SLAM are introduced with presenting solutions that act as milestones. Besides, the research hotspots of SLAM are investigated, and the trending issues are also delineated. |
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| Keywords: | Unmanned vehicles Localization Perception SLAM Odometry Computer vision |
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