LASER SLAM METHOD AND SYSTEM IN HIGH-DYNAMIC ENVIRONMENT, AND DEVICE AND STORAGE MEDIUM

WIPO Patent Application WO/2023/004956

A1

Disclosed in the present invention are a laser SLAM method and system in a high-dynamic environment, and a device and a storage medium. The method comprises the following processes: obtaining an initial state estimation of a SLAM system by using a pre-integration odometer of an IMU; respectively projecting the current laser point cloud and a local point cloud map into distance images according to a resolution determined by a localization error of the SLAM system; comparing the two distance images, and removing, from the current laser point cloud and the local point cloud map, points which represent moving objects; performing point cloud matching on the current laser point cloud and the local point cloud map, so as to obtain a state estimation of the SLAM system; determining whether the point cloud matching converges; if the point cloud matching converges, taking the obtained state estimation of the SLAM system as a final state estimation of the SLAM system; and if the point cloud matching does not converge, repeating the processes of distance image acquisition, removal of points which represent moving objects, point cloud matching and convergence determination, until the point cloud matching converges. By means of the present invention, the removal rate of a dynamic point and the accuracy of SLAM can both be improved.

SUN HONGBIN (CN)
QIAN CHENGLONG (CN)
ZHANG XUCHONG (CN)

PCT/CN2021/118607

February 02, 2023

September 15, 2021

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UNIV XI AN JIAOTONG (CN)

G06T11/20

WO2021025364A1

2021-02-11

CN113066105A	2021-07-02
CN113008274A	2021-06-22
CN112258600A	2021-01-22
US20190346271A1	2019-11-14

XI'AN TONG DA PATENT AGENCY CO., LTD. (CN)

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