基于2D-LiDAR与IMU融合的轨道机器人三维重建方法及误差补偿

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中图分类号：TP242 文献标志码：A 文章编号：2095-2945（2026）08-0001-04

Abstract：To addressthe highcostof 3DLiDAR systems，thispaperproposesa multi-positionscanning-based 3D reconstructionmethodusingalow-cost2D-LiDAR mountedonarail-guidedroboticplatform.Byanalyzingtheimpactofyaw， heading，andpichangleerorsduringrobotmotiononpointcloudregistrationacuracy，IMUdataisintroducedformotion compensationAdditionall，atemporalalignment-basedIMUinterpolationalgorithmisproposedtoresolvedataasynchrony between heLiDARandIMU.Experimentalresultsdemonstratethatthisappoachsignificantlyenhancespointcloudregistration accuracy，achieving millimeter-scale 3D reconstruction.

Keywords：3Dreconstructionmethod;motionerorcompensation;IMUinterpolationalgorithm;orbitalrobot;2D-LiDAR

三维建模在工业检测、自动驾驶、灾害监测等领域具有重要应用价值。（剩余4786字）