| abstract |
The invention discloses a device and method for indoor measurement based on laser SLAM, and relates to the technical field of indoor surveying and mapping; the device includes a data processing module and a grid map obtaining module, the method includes S2 data processing, and obtains a linear least squares-based calibration method Odometer, obtain indoor measured odometer data, inertial measurement unit IMU data and lidar data, and correct lidar data based on odometer linear interpolation; S3 obtains grid map, based on odometer data and inertial measurement unit IMU data fusion In the pose estimation, the indoor grid map is obtained by introducing the linear feature into the grid map; it can achieve accurate indoor measurement through the data processing module and the grid map acquisition module. |