面向园区巡逻的单线激光雷达SLAM算法研究

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1、分类号TP391学号14030092ＵＤＣ密级公开工学硕士学位论文面向园区巡逻的单线激光雷达SLAM算法研究硕士生姓名任瑞科学科专业控制科学与工程研究方向模式识别与智能系统指导教师李焱副教授国防科学技术大学研究生院二〇一六年十一月ResearchonSLAMalgorithmbasedonsingleLIDARforparkpatrolCandidate：RenRuikeAdvisor：ProfessorLiYanAdissertationSubmittedinpartialfulfillmentoftherequirementsforthedegreeofMasterofEngi

2、neeringinControlScienceandEngineeringGraduateSchoolofNationalUniversityofDefenseTechnologyChangsha，Hunan，P.R.ChinaNovember，2016国防科学技术大学研究生院硕士学位论文目录摘要..................................................................................................................iABSTRACT......................

3、...................................................................................ii第一章绪论......................................................................................................11.1研究背景和意义...........................................................................................

4、.11.2国内外研究现状............................................................................................21.2.1前端匹配算法研究现状......................................................................51.2.2后端优化算法研究现状......................................................................61.3论文的主要工作.......

5、.....................................................................................71.3.1研究内容及组织结构..........................................................................71.3.2主要贡献.............................................................................................8第二章基于相关性扫描匹配的前端算

6、法研究....................................................92.1点云数据预处理..........................................................................................102.1.1基于断点检测的点云数据预处理....................................................102.1.2基于法向量信息融合的点云数据处理..........................................

7、...122.2相关性扫描匹配算法..................................................................................142.2.1机器人概率模型...............................................................................142.2.2建立栅格化查询表.............................