激光和视觉融合SLAM方法研究综述

Survey of SLAM with Laser-Camera Fusion Sensor

摘要:

激光和视觉传感器在SLAM应用中都有其局限性，基于激光和视觉传感器融合的SLAM方法能够有效的利用各个传感器的优势，弥补传感器在某些特殊环境下的劣势，成为当前研究的热点之一；在分析激光SLAM和视觉SLAM优缺点的基础上，对激光和视觉融合的SLAM方法的研究现状进行概括和总结；介绍了激光和视觉融合SLAM的主要标志性成果，总结了激光和视觉传感器融合SLAM的关键性问题，包括激光和视觉传感器数据的外部标定、激光和视觉传感器数据融合方法，对激光和视觉融合SLAM方法的优缺点和主要的应用领域进行了总结；最后，对激光和视觉融合SLAM的主要发展趋势及研究热点进行了讨论。

Abstract:

Both the laser-based simultaneous localization and mapping (SLAM) and vision-based SLAM have limitation in specific environment, the SLAM with laser-camera fusion sensor can take advantage of outstanding features and make up the disadvantages of each sensors in these environment. Therefore, the SLAM with laser-camera fusion sensor has got much attention. The research of SLAM with laser-camera fusion sensor are reviewed and some outstanding achievements are presented to get a better understanding. Then the extrinsic calibration of camera and laser and laser-camera data fusion are analyzed in detail. And the advantages and disadvantages of the SLAM with laser-camera fusion sensor and its main application fields are summarized. In the end, the main trends and research hotspots of SLAM with laser-camera fusion sensor are discussed.