基于扫描匹配预处理的即时定位与地图创建

摘要

Simultaneous Localization And Mapping(SLAM) problem and its solution for indoor autonomous mobile robot are ana-lyzed.To improve the accuracy and robustness,a method using preprocess based on scan match for SLAM is proposed.This method can feed SLAM with a priori pose information,and is proved to be valid and practical by analyzing the result of experiment.%研究了室内自主移动机器人的即时定位与地图创建问题.分析了目前解决SLAM问题的方法,提出了基于扫描匹配预处理的即时定位与地图创建,用扫描匹配为SLAM提供机器人先验位姿信息.对实验结果和数据的分析,得出了所提出方法可进一步提高SLAM的精度和鲁棒性.