Simultaneous Localization And Mapping (SLAM) can realize the localization and navigation of the lunar rover in the unknown complex lunar environment. The lunar surface is composed of undulating terrain such as craters and stones, lacking the salient features of ground such as trees and buildings. Point cloud data with insignificant features will affect the localization accuracy and real-time performance of the lunar rover. This paper proposes a method to extract salient feature point clouds for the lunar surface environment and an incremental optimization algorithm based on the curve localizability estimation. The information matrix calculates the curve localizability index, obtains the uncertainty measurement of the robot pose estimation, and uses the incremental SLAM scheme for optimization to improve the positioning accuracy and real-timeness. The performance of the algorithm is verified by testing in Gazebo (physical simulation platform) simulation scenario.
SHANG Tianxiang
,
WANG Jingchuan
,
DONG Lingfeng
,
CHEN Weidong
. 3D lidar SLAM technology in lunar environment[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021
, 42(1)
: 524166
-524166
.
DOI: 10.7527/S1000-6893.2020.24166
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