基于RGB-D传感器的室内移动机器人SLAM

The 26th Chinese Control and Decision Conference (2014 CCDC) Pub Date : 2014-07-14 DOI:10.1109/CCDC.2014.6852851

Lyu Qiang, Liu Feng, W. Xiaolong, Wang Guosheng

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引用次数: 1

摘要

提出了一种基于RGB-D传感器的室内环境同步定位与制图方法。提取点云的S-NARF特征，用于点云配准。特别地，提出了一种半随机搜索策略用于循环闭包检测。在g20框架下对姿态估计进行了优化。实验表明，该方法能有效解决室内环境下的SLAM问题，姿态估计满足精度要求。

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RGB-D sensor based mobile robot SLAM in indoor environment

A simultaneous localization and mapping (SLAM) approach based on RGB-D sensor in indoor environment is presented in this paper. The S-NARF feature of point cloud was extracted, and then used for point cloud registration. In particular, a semi-random search strategy is proposed for the loop closures detection. The poses estimation was optimized under the g2o framework. The experiments demonstrate that the approach can effectively solve SLAM problem in indoor environment and the poses estimation have met the demand for precision.

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The 26th Chinese Control and Decision Conference (2014 CCDC)

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