主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2025, Vol. 50 ›› Issue (4): 16-19.DOI: 10.16638/j.cnki.1671-7988.2025.004.003

• 智能网联汽车 • 上一篇    

基于多传感器融合技术 SLAM 的研究

张顺，李雪娇，覃小婷，黄颖   

  1. 广西工业职业技术学院 汽车工程学院
  • 发布日期:2025-02-25
  • 通讯作者: 张顺
  • 作者简介:张顺（1989－），男，硕士，工程师，讲师，研究方向为自动驾驶技术、移动机器人技术，E-mail:1174104 181@qq.com
  • 基金资助:
    广西高校中青年教师科研基础能力提升项目（2024KY1330）；广西工业职业技术学院校级科研项目（GYKY 2023012B，GYKY2024008B）

Research on SLAM Based on Multi-sensor Fusion Technology

ZHANG Shun, LI Xuejiao, QIN Xiaoting, HUANG Ying   

  1. School of Vehicle Engineering, Guangxi Vocational & Technical Institute of Industry
  • Published:2025-02-25
  • Contact: ZHANG Shun

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摘要： 多传感器融合同步定位和地图绘制（SLAM）技术对于提高自动驾驶车辆的可靠性至 关重要。多传感器融合技术能帮助无人驾驶车辆更好地识别环境信息、做好路径规划和导航 定位，实现更可靠和精确的自动驾驶功能。文章以无人小车为平台，分别从视觉传感器和激 光雷达融合建图定位的角度出发，通过研究多传感器融合建图导航定位的对比测试结果与特 性，提出可以提升自动驾驶车辆建图定位可靠性的建议和方法。通过测试，使用视觉传感器 和激光雷达数据融合进行建图和定位，可以在立体防撞应用场景有效提升自动驾驶车辆的准 确性和可靠性。

关键词: 传感器融合；同步定位和地图绘制；无人小车；可靠性

Abstract: The research on multi-sensor fusion simultaneous localization and mapping (SLAM) is crucial for improving the reliability of autonomous vehicles. Multi-sensor fusion technology can help unmanned vehicles better identify environmental information, plan routes, and navigate and position, achieving more reliable and precise autonomous driving functions. Based on an unmanned car platform, this paper starts from the perspective of fusing visual sensors and lidar for map building and positioning, and studies the test results and characteristics of multi-sensor fusion map building and navigation positioning to propose suggestions and methods for improving the reliability of autonomous vehicle operation. Through testing, using visual sensor and lidar data fusion for map building and localization can effectively enhance the accuracy and reliability of autonomous vehicles in stereoscopic collision avoidance scenarios.

Key words: sensor fusion; simultaneous localization and mapping; unmanned vehicles; reliability