An effective approach for indoor mobile robot SLAM with multi-sensor fusion

Xiangxiang Cao; Yunben Du; Youbing Feng; Guoqing Qi; Jiajun Liu

doi:10.1117/12.2647084

7 September 2022 An effective approach for indoor mobile robot SLAM with multi-sensor fusion

Xiangxiang Cao, Yunben Du, Youbing Feng, Guoqing Qi, Jiajun Liu

Proceedings Volume 12329, Third International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2022); 123292W (2022) https://doi.org/10.1117/12.2647084
Event: Third International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2022), 2022, Changsha, China

Abstract

With the rapid development of mobile service robot industry, its application scenarios have become more complex and diverse. SLAM (Simultaneous Localization and Mapping) with a single sensor is difficult to meet the application requirements. Multisensor fusion for accurate positioning and mapping navigation has become one of the research hotspots in this field. In order to solve the problem of single sensor simultaneous localization and map construction in indoor small environment, the contour is fuzzy and the effect is not ideal. Based on ORB-SLAM2 fusion and improved Gmapping algorithm, this paper proposes a multi-sensor real-time localization mapping scheme based on laser radar and vision fusion. This algorithm combines the visual information provided by the depth camera and the scanning frame provided by the laser radar to make up for the shortcomings of a single sensor and form a real-time positioning and map building system with higher robustness. The experimental results show that the integrated SLAM scheme can obtain a more comprehensive and accurate map, which meets the expected design requirements.

Citation Download Citation

Xiangxiang Cao, Yunben Du, Youbing Feng, Guoqing Qi, and Jiajun Liu "An effective approach for indoor mobile robot SLAM with multi-sensor fusion", Proc. SPIE 12329, Third International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2022), 123292W (7 September 2022); https://doi.org/10.1117/12.2647084

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available