代凯,申棋仁,吴官朴,赵阳,马芳武

• 1:吉林大学汽车仿真与控制国家重点实验室
• 2:吉林大学汽车工程学院

摘要(Abstract)：

基于激光雷达的同步定位和建图(SLAM)及融合定位技术是无人驾驶的关键技术。激光雷达可以从环境中获取精确的距离及强度信息,被广泛应用于高精度地图构建及基于地图的匹配定位,可有效增强基于卫星定位在弱GNSS区域的鲁棒性。基于当前无人驾驶背景下激光SLAM及融合定位方法的研究现状,对应用于无人驾驶车辆的激光SLAM和融合定位方法的架构原理、标志性成果和研究热点展开综述,并探讨其发展趋势。

关键词(KeyWords)： 激光雷达;无人驾驶;同步定位和建图;多传感器融合

Abstract:

Keywords:

基金项目(Foundation):

作者(Author): 代凯,申棋仁,吴官朴,赵阳,马芳武

DOI: 10.19822/j.cnki.1671-6329.20200167

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