室外环境智能驾驶技术综述

Overview of SLAM for Outdoor Environments

摘要:

本文针对低速无人车在室外发展需要用到的关键技术，展开了对高精度地图与三维激光雷达同步定位与建图方法的讨论。指出了室外环境与室内环境的智能导航技术的主要区别，一方面是室内外环境差异较大，需要对动静态障碍物综合处理也需要遵守交通法规，另一方面室外环境对传感器也要求较高，还有一点是在室外情况经常会出现全球定位系统信号差导致定位不准确的情况；本文针对以上问题介绍了两个重要的低速无人车自主定位与导航技术，首先是高精度地图的使用，主要介绍了高精度地图的理论框架与地图制作方法；然后讨论了介绍了较为成熟的室内SLAM算法，并讨论算法的局限性，引出室外3D SLAM方法的重大突破算法与发展现状；最后提出未来室外SLAM技术的发展趋势。

Abstract:

Aiming at the key technologies needed for the development of intelligent driving technology in outdoors, this paper discusses the simultaneous localization and mapping technology of high-precision map and three-dimensional LiDAR It is quite different from the outdoor and indoor environment, On the one hand, the indoor and outdoor environments are quite different, and comprehensive treatment of dynamic and static obstacles is required, and traffic laws and regulations are also required, On the other hand, the outdoor environment also has high requirements for sensors. What’s more, poor Global Positioning System signals often lead to inaccurate positioning in outdoor situations. Around the above problems, this paper introduces two important outdoor SLAM development technologies, the first is the application of high-precision maps, including the theoretical framework and map production method. And then, the more mature indoor SLAM algorithm including the limitations of the algorithm is discussed, at last, the major breakthrough algorithm and development status of the outdoor 3D SLAM method are introduced. In the end, the future development trend of outdoor SLAM technology is proposed.