Research And Implementation Of Indoor Mobile Measurement System Based On Laser SLAM

Indoor engineering drawing is the basic element of fire rescue.In real life,drawings are often lost,which brings great challenges to fire rescue work.Therefore,research on intelligent drawing is of great significance to fire rescue.Aiming at the low efficiency of indoor surveys using traditional methods,an indoor mobile measurement system based on laser SLAM is proposed for indoor mapping.First,the indoor mobile measurement system is modeled,and detailed theoretical analysis and derivation are carried out on the motion model of the mobile measurement system,the lidar observation model and the environmental map model.Secondly,in view of the problem of the sensor accuracy of the indoor mobile measurement system,the linear least square method is used to calibrate the odometer,and the odometer-based linear interpolation method is used to remove the movement distortion of the lidar,thereby improving the positioning of the indoor mobile measurement system.accuracy.Then,analyze the principles of Cartographer SLAM algorithm positioning and mapping,and complete the construction of indoor raster maps.Finally,perform image preprocessing on the raster map image,use the refinement algorithm to obtain the outline information of the indoor raster map,store the indoor outline information in the linked list and eliminate the outline singular points,and use the Hough transform to detect and identify the lines and circles in the linked list.In this way,the vector feature data corresponding to the primitive parameters are obtained,and the indoor raster map vector data output is completed using the DXF file format.Based on Cartographer SLAM algorithm,this project proposed the pose estimation based on EKF odometer and IMU fusion,aiming at the problem that odometer has poor pose Angle estimation.At the same time,aiming at the problem that the edge of raster map has error caused by laser point cloud fluctuation in the process of motion,The Cartographer algorithm and the improved Cartographer algorithm were verified by simulation experiments.In order to verify the effectiveness of the above algorithms,the Cartographer algorithm and the indoor raster map constructed by the improved Cartographer algorithm were compared and analyzed in an indoor environment using the indoor mobile measurement system as an experimental platform.The improved Cartographer algorithm was used to automatically vectorize the raster map.The experiment shows that the indoor mobile measurement system based on laser SLAM can obtain the indoor map in real time and accurately without GPS signal.