3D LASER-BASED MAP BUILDING METHOD AND SYSTEM

摘要

A 3D laser-based map building method and system, the map building method comprising: planning a route and collecting data in the moving process of a mobile robot; loading in the collected data with a map building tool; performing initial registration on adjacent laser data; performing accurate registration on the adjacent laser data; performing closed-loop association on identical areas over which the mobile robot passes, and establishing closed-loop constraints; performing global optimization resolution on a whole map which has the established closed-loop constraints; and superimposing all of the laser data and outputting a laser map. The described method is independent of a GPS and is not subject to the restrictions of GPS signals; surveying and mapping equipment such as a total station is not used, and tedious surveying and mapping operations are thus avoided; and a manual closed-loop mode may be used so that maps of various large-scale indoor and outdoor environments may be built. Moreover, data collection and composition are separated, the map may be finely adjusted offline, and a high-precision map may be built.