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《Mine Surveying》 2017-04
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Application summary of SLAM in research and development of surveying and mapping equipment in indoor

Cai Lailiang;Yang Wangshan;Wang Shanshan;Zhu Xuelian;School of Surveying and Land Information Engineering,Henan Polytechnic University;  
SLAM(Simultaneous localization and mapping) referred to the robot in their own location uncertainty and unknown environment to create an environmental map using the maps for autonomous navigation and positioning.The research core of mobile robot was synchronous positioning and map creation,and mobile robot was the data acquisition platform of surveying and mapping instrument in indoor.In the paper,the SLAM research status of SLAM in indoor were summarized and the principles,advantages,disadvantages and research situation of passive vision SLAM method,active vision SLAM method,wireless fidelity(WiFi) SLAM method and RGB-D SLAM method were discussed combining with the movement measurement system of SLAM surveying and mapping instrument in indoor.Improving think and research status of two more popular SLAM algorithms were described.At last,Evaluation criteria and the development trend of mobile measurement system of SLAM surveying instrument in indoor were discussed based on the research of SLAM surveying instrument in indoor.
【Key Words】: simultaneous localization and mapping SLAM method SLAM algorithm surveying and mapping instrument
【Fund】: 河南省基础与前沿技术研究(162300410184);; 河南省科技攻关项目(162102210226);; 河南省高等学校重点科研项目计划(15A420005)
【CateGory Index】: TP242
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