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| 基于SLAM的连续运动测量坐标转换算法研究 | |
| 引用本文： | 訾安琪,柴晓冬,郑树彬,李立明,张磊. 基于SLAM的连续运动测量坐标转换算法研究[J]. 应用声学, 2016, 24(1): 289-294 |
| 作者姓名： | 訾安琪 柴晓冬 郑树彬 李立明 张磊 |
| 作者单位： | 上海工程技术大学 城市轨道交通学院,上海工程技术大学 城市轨道交通学院,上海工程技术大学 城市轨道交通学院,上海工程技术大学 城市轨道交通学院,上海工程技术大学 城市轨道交通学院 |
| 基金项目： | 上海市科委重点支撑项目资助(13510501300)；上海市研究生教育创新计划学位点引导布局与建设培育项目(13sc002)；国家自然科学基金资助(51478258) |
| 摘 要： | 本文基于同步定位与地图创建(Simultaneous Localization and Mapping,SLAM)原理,通过双目视觉系统的坐标转换方法,建立动态坐标系与静态基准点之间的关系,实现连续运动测量。通过实验,设计运动路线,验证坐标转换算法,并得到了建立在世界坐标系下的空间线形曲线。实验结果表明：转换后的坐标,x、y、z三个方向的最大误差不超过0.734mm。 |
| 关 键 词： | 同步定位与地图创建 坐标转换 连续测量 世界坐标系 |
| 收稿时间： | 2015-08-05 |
| 修稿时间： | 2015-11-19 |
Continuous Movement Measuring Coordinate Transformation Algorithm Based on SLAM |
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| Chai Xiaodong,Zheng Shubin,Li Llming and Zhang Lei. Continuous Movement Measuring Coordinate Transformation Algorithm Based on SLAM[J]. Applied Acoustics(China), 2016, 24(1): 289-294 | |
| Authors: | Chai Xiaodong Zheng Shubin Li Llming Zhang Lei |
| Affiliation: | College of Urban Rail Transportation,Shanghai University of Engineering Science,College of Urban Rail Transportation,Shanghai University of Engineering Science,College of Urban Rail Transportation,Shanghai University of Engineering Science,College of Urban Rail Transportation,Shanghai University of Engineering Science,College of Urban Rail Transportation,Shanghai University of Engineering Science |
| Abstract: | In this paper, a relationship between a dynamic coordinate system and the static reference point was built to realize continuous motion measurement, which was based on the principle of simultaneous localization and mapping (SLAM) and the coordinate transformation method of binocular vision system. We designed a movement course in the experiment to verify the coordinate transformation algorithm, and got a space linear curve based on the world coordinate system. Experimental result shows that after the transformed coordinates, x, y, z three directions of the maximum error is less than 0.734 mm. |
| Keywords: | Simultaneous Localization and Mapping coordinate transformation |
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