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Lidar SLAM System Design

1. Intro

Overlooked the localization problem earlier.

So now the system is more clear

  • Offline map construction
  • Use LOAM series to build graph map and construction
  • Online global localization
  • Use HDL (GICP) to to the localization in real time

2. System

img

3. Test Via Point Data

Building Map:

  • y=5200, x=0
  • x=1920, y=5200
  • y=(745)73*80+100-65*80, x=1920
  • y=-300, x=700
  • x=150, y=-56

Map

  • x=0,y=5200-80
  • x=1920,y=5200
  • x=1920, y=745-80
  • x=1920-460, y=745-80-100

80: 3

73: 2+3

一共65

58块80

7块73

14-7*7=35