Page 57 - 《软件学报》2020年第9期

软件学报 ISSN 1000-9825, CODEN RUXUEW E-mail: jos@iscas.ac.cn
Journal of Software,2020,31(9):2678−2690 [doi: 10.13328/j.cnki.jos.005937] http://www.jos.org.cn
©中国科学院软件研究所版权所有. Tel: +86-10-62562563

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扫地机器人增强位姿融合的 Cartographer 算法及系统实现

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张 亮 , 刘智宇 , 曹晶瑛 , 沈沛意 , 蒋得志 , 梅 林 , 朱光明 , 苗启广 1
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(西安电子科技大学 计算机科学与技术学院,陕西 西安 710071)
2 (北京石头世纪科技有限公司,北京 100039)
3 (上海宽带技术及应用工程研究中心,上海 200436)
通讯作者: 沈沛意, E-mail: pyshen@xidian.edu.cn

摘 要: Cartographer 是谷歌在 2016 年开源的一个可以在多传感器配置下实现低计算资源消耗的 SLAM 算法框
架.针对原有 Cartographer 中位姿融合不准确、存在延迟的问题,首先设计了一种基于位姿增量的多传感器位姿融
合方法;随后,针对扫地机器人 Player 平台,设计并实现了基于增强 Cartographer 算法的多模块 SLAM 系统;最后,通
过 Cartographer 数据集的实验分析和真实场景的实际测试,验证了增强 Cartographer 算法的有效性以及 SLAM 系统
在 Player 机器人平台上的可用性.
关键词: 扫地机器人;Cartographer;多传感器位姿融合;SLAM 系统
中图法分类号: TP242

中文引用格式: 张亮,刘智宇,曹晶瑛,沈沛意,蒋得志,梅林,朱光明,苗启广.扫地机器人增强位姿融合的 Cartographer 算法及系
统实现.软件学报,2020,31(9):2678−2690. http://www.jos.org.cn/1000-9825/5937.htm
英文引用格式: Zhang L, Liu ZY, Cao JY, Shen PY, Jiang DZ, Mei L, Zhu GM, Miao QG. Cartographer algorithm and system
implementation based on enhanced pose fusion of sweeping robot. Ruan Jian Xue Bao/Journal of Software, 2020,31(9):
2678−2690 (in Chinese). http://www.jos.org.cn/1000-9825/5937.htm

Cartographer Algorithm and System Implementation Based on Enhanced Pose Fusion of
Sweeping Robot

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ZHANG Liang , LIU Zhi-Yu , CAO Jing-Ying , SHEN Pei-Yi , JIANG De-Zhi , MEI Lin ,
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ZHU Guang-Ming , MIAO Qi-Guang 1
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(School of Computer Science and Technology, Xidian University, Xi’an 710071, China)
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(Beijing Roborock Technology Co., Ltd, Beijing 100039, China)
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(Shanghai Broadband Network Technology and Application Engineering Research Center, Shanghai 200436, China)
Abstract: Cartographer is Google’s 2016 open source SLAM algorithm framework for low computational resource consumption in
multi-sensor configurations. In this study, due to the inaccurate middle posture fusion and delay of the original Cartographer, a multi-
sensor posture fusion method based on posture increment was designed. Subsequently, the multi-module SLAM system based on enhanced
Cartographer algorithm was designed and implemented for the cleaning robot Player platform. Finally, the effectiveness of the enhanced
Cartographer algorithm and the usability of the SLAM system on the Player robot platform were verified by the experimental analysis of
the Cartographer data set and the actual test of the real scenario.

∗ 基金项目: 国家自然科学基金(61401324, 61305109); 陕西省重点研发计划(2018ZDXM-GY-36)
Foundation item: National Natural Science Foundation of China (61401324, 61305109); Shaanxi Province Key Research and
Development Program (2018ZDXM-GY-36)
本文由“智能嵌入式系统”专题特约编辑王泉教授、吴中海教授、陈仪香教授、苗启广教授推荐.
收稿时间: 2019-06-27; 修改时间: 2019-08-18; 采用时间: 2019-11-02; jos 在线出版时间: 2020-01-13
CNKI 网络优先出版: 2020-01-14 11:26:53, http://kns.cnki.net/kcms/detail/11.2560.TP.20200114.1126.019.html