基于激光雷达与视觉融合的机器人SLAM技术

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中图分类号：TN958.98 文献标识码：A文章编号：2096-4706（2025）22-0194-05

Robot SLAM Technology Based on the Fusion of LiDAR and Vision

YANG Hongli， LIANG Yuansheng， YU Hao， JI Xiaoxing， ZENG Xianyang（1.School ofMathematics and Physics，Nanjing Institute ofTechnology，Nanjing211167，China; 2.EngineringTraningCenterandSchoolofAppliedTechnology，NanjingIstituteofechnology，Nanjing21167，China）

Abstract：Inresponsetothe limitationsofasinglesensing mode incomplexapplicationsenarios，thisstudybasedon themulti-sensorfusiontheoretical framework，integrates thehigh-precisionspatialmodelingadvantagesofLiDARandthe rich environmental feature extraction capabiliesofvisual sensors toconstruct a SLAMsystem for heterogeneoussensingdata fusion.Bycomparingand analyzing the mapping efects of pure laser SLAM systemand multi-sensor fusion system based onKartoand Gmappingalgorithms，experimentaldata showsthatthe fusionsystemexhibitssignificantimprovements in key indicatorssuchasapitegrityvironmentalaturefdelityndspatialtopologyaccuracyhishybridAcieture fectivelysolves theproblemofmapping failureofasinglesensorin texture-poorareas ordynamic scenesthroughamultimodal dataomplementaritymechanism，providingacentimeter-levelpositioingaccuracyandhigh-reliabilityenvironmentalogition solution for robot autonomous navigation systems in complex environments.

Keywords： mobile robot; LiDAR; visual sensor; SLAM technology

0 引言

随着科技与工业化水平的不断提升，机器人技术的应用范围日益广泛。（剩余6021字）