Application research on data collection and safety management of relocation SLAM underground space
重定位SLAM地下空间数据采集与安全管理应用研究

摘要

城市地下空间作为城市规划与发展的重要组成部分，是城市综合智能管理的重要延伸。而针对城市空间的管理，首先需要获取城市空间三维数据，并以三维数据为基础进行各种业务流程、管理流程的信息化系统建设。城市地上空间的数据获取手段技术成熟，可采用的技术手段较多。而城市地下空间的三维数据采集则受到其内部空间复杂、无GNSS信号等诸多因素的影响。本文将研究一种基于重定位SLAM算法的城市地下空间三维数据采集解决方案，并针对城市地下空间数据进行相关的技术应用研究。

Abstract

As an important part of urban planning and development, urban underground space is an important extension of urban comprehensive intelligent management. For the management of urban space, it is first necessary to obtain the three-dimensional data of urban space, and to construct the information system of various business processes and management processes based on the three-dimensional data. The data acquisition methods of urban above-ground space are mature in technology, and there are many technical methods that can be used. The 3D data acquisition of urban underground space is affected by many factors, such as the complex internal space and the absence of GNSS signals. This paper will study a solution for 3D data acquisition of urban underground space based on the relocation SLAM algorithm, and conduct related technical application research for urban underground space data.