推车SLAM室内实景三维测图及应用

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英文篇名：Indoor real 3D mapping based on trolley SLAM and its application 作者：胡博 ; 危双丰 ; 严强 ; 王京濮 ; 黄鹤 英文作者：HU Bo;WEI Shuangfeng;YAN Qiang;WANG Jingpu;HUANG He;School of Geomatics and Urban Spatial Informatics,Beijing University of Civil Engineering and Architecture;Engineering Research Center of Representative Building and Architectural Heritage database,Ministry of Education;Beijing Advanced Innovation Center for Future Urban Design;Key Laboratory for Urban Geomatics of National Administration of Surveying,Mapping and Geoinformation;Beijing Key Laboratory for Architectural Heritage Fine Reconstruction & Health Monitoring;Nanjing Alphastar Information Technology Co.,Ltd.; 关键词：NavVis ; 推车SLAM ; 三维测图 ; 兴趣点 ; 路径规划 英文关键词：NavVis;;trolley SLAM;;3D mapping;;points of interest;;path planning 中文刊名：CHTB 英文刊名：Bulletin of Surveying and Mapping 机构：北京建筑大学测绘与城市空间信息学院;代表性建筑与古建筑数据库教育部工程中心;北京未来城市设计高精尖创新中心;现代城市测绘国家测绘地理信息局重点实验室;建筑遗产精细重构与健康监测北京市重点实验室;南京天枢星图信息技术有限公司; 出版日期：2019-01-25 出版单位：测绘通报 年：2019 期：No.502 基金：北京建筑大学市属高校基本科研业务费专项(X18229);; 国家重点研发计划(2017YFB0503702);; 国家自然科学基金(41601409);; 北京市自然科学基金(8172016);; 现代城市测绘国家测绘地理信息局重点实验室开放基金(20131201NZ) 语种：中文; 页：CHTB201901009 页数：6 CN：01 ISSN：11-2246/P 分类号：43-47+53

摘要

以推车SLAM移动测图系统NavVis为数据采集手段,简要介绍了其工作原理,并详细介绍了室内实景三维测图的技术流程,实现了室内三维实景地图的网络发布。同时,对该地图定制了兴趣点(POI)添加查询和室内导航路径规划两种应用功能。NavVis推车SLAM系统提供的从数据采集、数据处理、网络发布到地图应用的一整套解决方案,为室内推车SLAM的发展和高精度三维实景地图的制作提供了有益的参考。
        Taking the trolley SLAM mobile mapping system—NavVis as the data acquisition means,this paper briefly introduces its working principle and the technical flow of indoor real-time 3D mapping in details,and realizes the online release of indoor 3D real map. At the same time,two application functions such as POI addition query and indoor navigation path planning are customized for the map. NavVis provides a complete set of solutions from data acquisition,data processing,and network publishing to application. It provides a useful reference for the development of indoor trolley SLAM and the production of high precision 3D real map.

引文

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