Real-time 3D mapping method of fully mechanized working face based on laser SLAM

The mobile mapping method relies on fiber optic inertial navigation with high precision and odometer to calculate the position and attitude. But in the actual engineering practice, the precision of odometer is difficult to meet the application requirements, resulting in incomplete 3D laser point cloud of working face. In order to solve this problem, a real-time 3D mapping method of fully mechanized working face based on laser SLAM is proposed. The method mainly comprises the steps of distortion removal of laser point cloud, feature extraction , position and attitude estimation and optimization mapping. The distortion of laser point cloud is eliminated through the inertial navigation data. The inertial navigation data is retrieved according to the time stamp of each point in the point cloud to obtain the attitude angle corresponding to each point. If the corresponding attitude angle is not retrieved, the quaternion method is adopted for interpolation. The geometric tensor feature of the point cloud is extracte