论文标题
飞行时间基于痛苦的精确映射
Time-of-Flight LiDAR-based Precise Mapping
论文作者
论文摘要
最近二十年，机器人地图的问题在研究界取得了很大的进步。但是，由于传感器提供的数据仍然包含噪声，因此如何获得准确的地图仍然是一个开放的问题。在本说明中，我们从数学分析的角度分析了问题，并根据多个探索提出了一种概率地图更新方法。提出的方法可以帮助我们估计机器人勘探的回合数量，这对于任务的硬件和时间成本有意义。
Last two decades, the problem of robotic mapping has made a lot of progress in the research community. However, since the data provided by the sensor still contains noise, how to obtain an accurate map is still an open problem. In this note, we analyze the problem from the perspective of mathematical analysis and propose a probabilistic map update method based on multiple explorations. The proposed method can help us estimate the number of rounds of robot exploration, which is meaningful for the hardware and time costs of the task.
