如今，移动机器人技术的发展使得同步定位与建图(SLAM)技术越来越受到学者的关注。在未知环境下，使移动机器人能够自主完成建图或者探索，是SLAM 最基本的要求。在过去的十年，单传感器为机器人的建图和探索提供了良好的效果，而多传感器融合SLAM 则以其强鲁棒、高精度的技术特性，为提升移动机器人建图的精度和速度提供了更高的可能性，成为了SLAM 发展的主要研究方向。文中总结了现今多传感器融合SLAM 的方案，首先对单传感器方案进行了比较；然后对多传感器融合技术的方案进行了对比；最后，分析了多传感器融合SLAM 的难点与解决方案，并对多传感器融合SLAM 的未来与发展进行了探讨。

Nowadays,the development of mobile robot technology has made the simultaneous localization and mapping (SLAM) technology more and more concerned by scholars. In an unfamiliar environment, it is the most basic requirement of SLAM to enable mobile robots to complete mapping or exploration autonomously. In the past decade, single-sensor has provided good results for robot mapping and exploration, while multi-sensor fusion SLAM has become the main research direction of SLAM development due to its strong robustness and high precision technical characteristics, which provides higher possibilities for improving the accuracy and speed of mobile robot mapping. In this paper, the current schemes of multi-sensor fusion SLAM are summarized, and the single-sensor schemes are compared firstly. Then, the schemes of multi-sensor fusion technology are compared. Finally, the difficulties and solutions of multi-sensor fusion SLAM are analyzed, and the future and development of multi-sensor fusion SLAM are discussed.

TP212

2021年天津市研究生科研创新资助项目(智能网联汽车)(2021YJS02S25);国家自然科学基金资助项目(61975151)