其次对四种传感器进行标定，其中在IMU和里程计联合状态估计中使用无迹卡

其次对四种传感器进行标定，其中在IMU和里程计联合状态估计中使用无迹卡尔曼滤波（Unscented Kalman filter，UKF）算法，对比EKF算法进行仿真设计，结果得出基于UKF的融合算法性能更高，能够提高机器人定位精度；利用Kinect深度相机与Rplidar激光雷达进行坐标系转换联合标定并用姿势图优化纠正漂移，能够提高机器人建图精度。在算法融合中，将深度相机创建的三维地图转换为2D伪激光数据并融合激光雷达数据，基于Cartographer算法，在前端采用融合NDT的2D激光数据扫描匹配遗传算法，后端位姿图优化与分枝定界回环检测，成功绘制并提升了2D栅格地图建图精度。

0/5000

源语言: -

目标语言: -

结果 (英语) 1: [复制]

复制成功！

Secondly, four kinds of sensors are calibrated. Among them, the Unscented Kalman filter (UKF) algorithm is used in the joint state estimation of IMU and odometer, and the simulation design is compared with the EKF algorithm. The result shows that the performance of the fusion algorithm based on UKF is better. It can improve the positioning accuracy of the robot; using the Kinect depth camera and the Rplidar lidar to perform coordinate system conversion and joint calibration and use the posture map to optimize and correct the drift, which can improve the accuracy of the robot's mapping. In the algorithm fusion, the 3D map created by the depth camera is converted into 2D pseudo laser data and the lidar data is fused. Based on the Cartographer algorithm, the 2D laser data scanning and matching genetic algorithm fused with NDT is used in the front end, and the back end pose map is optimized and analyzed. Branch bound loop detection, successfully drawn and improved the accuracy of 2D raster map mapping.

正在翻译中..

结果 (英语) 2:[复制]

复制成功！

Secondly, the four sensors are calculation, in which the traceless Kalman filter (Unscented Kalman filter, UKF) algorithm is used in the IMU and odometer joint state estimation, compared with the EKF algorithm simulation design, resulting in a higher performance of the UKF-based fusion algorithm, which can improve the robot positioning accuracy; It can improve the accuracy of robot drawing. In the algorithm fusion, the 3D map created by the depth camera is converted to 2D pseudo-laser data and the lidar data is fused, based on the Cartographer algorithm, the 2D laser data scanning matching genetic algorithm fusion NDT is used at the front end, and the back-end position map optimization and branching boundary loop detection are used to successfully draw and improve the accuracy of the 2D grid map drawing.

正在翻译中..

结果 (英语) 3:[复制]

复制成功！

正在翻译中..

其它语言

本翻译工具支持: 世界语, 丹麦语, 乌克兰语, 乌兹别克语, 乌尔都语, 亚美尼亚语, 伊博语, 俄语, 保加利亚语, 信德语, 修纳语, 僧伽罗语, 克林贡语, 克罗地亚语, 冰岛语, 加利西亚语, 加泰罗尼亚语, 匈牙利语, 南非祖鲁语, 南非科萨语, 卡纳达语, 卢旺达语, 卢森堡语, 印地语, 印尼巽他语, 印尼爪哇语, 印尼语, 古吉拉特语, 吉尔吉斯语, 哈萨克语, 土库曼语, 土耳其语, 塔吉克语, 塞尔维亚语, 塞索托语, 夏威夷语, 奥利亚语, 威尔士语, 孟加拉语, 宿务语, 尼泊尔语, 巴斯克语, 布尔语(南非荷兰语), 希伯来语, 希腊语, 库尔德语, 弗里西语, 德语, 意大利语, 意第绪语, 拉丁语, 拉脱维亚语, 挪威语, 捷克语, 斯洛伐克语, 斯洛文尼亚语, 斯瓦希里语, 旁遮普语, 日语, 普什图语, 格鲁吉亚语, 毛利语, 法语, 波兰语, 波斯尼亚语, 波斯语, 泰卢固语, 泰米尔语, 泰语, 海地克里奥尔语, 爱尔兰语, 爱沙尼亚语, 瑞典语, 白俄罗斯语, 科西嘉语, 立陶宛语, 简体中文, 索马里语, 繁体中文, 约鲁巴语, 维吾尔语, 缅甸语, 罗马尼亚语, 老挝语, 自动识别, 芬兰语, 苏格兰盖尔语, 苗语, 英语, 荷兰语, 菲律宾语, 萨摩亚语, 葡萄牙语, 蒙古语, 西班牙语, 豪萨语, 越南语, 阿塞拜疆语, 阿姆哈拉语, 阿尔巴尼亚语, 阿拉伯语, 鞑靼语, 韩语, 马其顿语, 马尔加什语, 马拉地语, 马拉雅拉姆语, 马来语, 马耳他语, 高棉语, 齐切瓦语, 等语言的翻译.