多传感器融合SLAM --- 2.LOAM论文解读及LOAM的编译运行

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已于 2023-06-03 17:05:22 修改

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分类专栏：多传感器融合SLAM（LIDAR、IMU、相机）文章标签：激光SLAM LOAM 论文解读算法 C++

于 2023-05-24 15:42:56 首次发布

本文链接：https://blog.csdn.net/qq_41694024/article/details/130820534

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本文详细解读了LOAM（LIDAR Odometry and Mapping）论文，包括问题描述、算法核心思想、激光雷达测距原理及其在6-DOF中的应用。LOAM通过将SLAM问题分解为高频率低精度的运动估计和低频率高精度的点云匹配两部分，实现实时低漂移的定位与建图。关键步骤包括特征点提取、匹配关系建立和运动估计。此外，文章还介绍了LOAM的编译过程和ROS及坐标系的基础知识。

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1.5.2 建立匹配关系Finding Feature Point Correspondence

1.5.3 运动估计 Motion Estimation

2.A-LOAM的编译

3.ROS及坐标系介绍

1.LOAM论文解读

1.1 摘要部分

We propose a real-time method for odometry and mapping using range measurements from a 2-axis lidar moving in 6-DOF. The problem is hard because the range measurements are received at different times, and errors in motion estimation can cause mis-registration of the resulting point cloud. To date,coherent 3D maps can be built by off-line batch methods, often using loop closure to correct for drift over time. Our method achieves both low-drift and low-computational complexity with-out the need for high accuracy ranging or inertial measurements.The key idea in obtaining this lev