基于RGB-D传感器的3D室内环境地图实时创建  

RGB-D sensor based real-time 3Dmap building for indoor environment

作　　者：朱笑笑[1] 曹其新[1] 杨扬[1] 陈培华[1] 

机构地区：[1]上海交通大学机器人所机械系统与振动国家重点实验室,上海200240

出　　处：《计算机工程与设计》2014年第1期203-207,共5页Computer Engineering and Design

基　　金：国际热核聚变实验堆(ITER)计划专项基金项目(2011GB113005)

摘　　要：对基于RGB-D传感器的室内环境3D地图的建立方法进行研究,针对最流行的RGBD-SLAM算法在建立完整3D地图时遇到的问题,提出了两个方面改进。一是改进子地图划分标准,使得多层图抽象可以更好的反映环境的拓扑结构,并具有更高的效率;二是在地图输出模块中添加冗余点去除模块,使得最后得到的地图数据量减少,为后续操作提供更准确的数据。实验中,将改进的方法和原始方法进行比较,比较结果表明,两个改进在建立室内3D地图时是完全有效的。The building method of the indoor 3D environment using the RGB-D sensor is researched, and the problem of using fa mous RGBD-SLAM algorithm to build a complete 3D map is analyzed, and then two improvements are proposed. First, the sub map dividing method is advanced, which makes the multi-graph abstraction better reflect the topology of the environment, and become more efficient. Second, a redundant point removing module in the map output module is added, which can reduce the re sulting map data and provide more accurate data for the follow-up operations. In the experiment, the improved method is com pared with the original one, and the results demonstrate the establishment of two improvements for indoor 3D map building is completely valid.

关 键 词：RG&D传感器 3D同步定位与地图创建 多层图优化 点云融合 冗余点去除 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]