【摘要】 无人车的室内自主驾驶中常用到EKF-SLAM(Simultaneous Localization and Mapping)技术。单纯的编码器SLAM技术,由于其长时间的运行会导致累计误差过大,使得定位非常不准确,所以需要一种技术,对位置信息的定位方式加以辅助,考虑到二维码识别技术的方便性以及易用性,本文采用二维码人工路标作为绝对定位方式的标签,提升EKF-SLAM的定位准度,并利用扩展卡尔曼滤波进行多数据融合,通过实验验证了实验该方案的可行性与实用性。更多还原

【Abstract】 EKF-SLAM(Simultaneous Localization and Mapping)is often used in the localization method of self-driving.If there is only encoder sensor in this way,the accumulated error will be greater and greater because of long-time running and the accuracy of positioning will become inaccuracy.So the location information may be secondary.Thanks to convenience and usability of QR code,the method of QR code artificial landmarks that support absolute position information is adopted in this paper,that increases the positioning accuracy.In the meanwhile,the Kalman filter is used to fusion the multiple data.The experiment results show that the scheme is feasibility and practicality.更多还原