基于轮式机器人的实时3D栅格地图构建  

Real-Time 3D Grid Map Construction Based onWheeled Robot

作　　者：刘安睿劼 王耀力 LIU Anruijie;WANG Yaoli(School of Information and Computer Science,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学信息与计算机学院,太原030024

出　　处：《计算机工程与应用》2020年第13期164-171,共8页Computer Engineering and Applications

基　　金：山西省自然科学基金(No.201801D121141)。

摘　　要：移动机器人在各种任务中需要进行建图、定位和路径规划,但是目前的视觉SLAM只能输出相机的运动轨迹图,而不能生成用于路径规划和导航的地图。因此,在ORB_SLAM2的基础上,与RGB-D相机相结合,提出了一种实时3D栅格地图构建算法。建立了一个逆传感器模型(Inverse Sensor Model,ISM);针对ISM模型,重新构建了3D栅格地图的算法;联合ORB_SLAM2进行数据集实验、仿真环境实验和实时构建实验。经实验验证,该算法能够利用ORB_SLAM2实时构建出具有尺度的3D栅格地图,且能够清晰地显示障碍物位置,验证了该算法的有效性。Mobile robots in a variety of tasks need to be built in map,location and path planning,but the current vision SLAM can only output camera trajectory map,but cannot generate a route planning and navigation maps.Therefore,this paper proposes a real-time 3D raster map construction algorithm,based on the ORB_SLAM2,combined with RGB-D camera.An Inverse Sensor Model(ISM)is first established.Secondly,the algorithm of 3D grid map is reconstructed for the ISM model.Finally,it combines with ORB_SLAM2 for data set experiments,simulation environment experiments and real-time construction experiments.The experimental results show that the algorithm can construct a 3D grid map with scale in real time by using ORB_SLAM2,and can clearly display the obstacle position,and verify the effectiveness of the algorithm.

关 键 词：ORB_SLAM2系统 RGB-D相机 逆传感器模型(ISM) 3D栅格地图 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]