激光雷达/深度相机融合的SLAM实验平台开发  

Development of SLAM Experimental Teaching Platform for the Fusion of Lidar/Depth Camera

作　　者：胡彧奇 司鹏举 沈梦瑶 尹飞虎 黄稼伟 常凯威 Hu Yuqi;Si Pengju;Shen Mengyao;Yin Feihu;Huang Jiawei;Chang Kaiwei(College of Information Engineering,Henan University of Science&Technology,Luoyang Henan 471023,China)

机构地区：[1]河南科技大学信息工程学院,河南洛阳471023

出　　处：《山西电子技术》2024年第2期26-28,53,共4页Shanxi Electronic Technology

基　　金：国家自然科学基金(62201200);河南科技大学高等教育教学改革研究与实践项目(2021BK146、2021BK012);大学生研究训练计划项目(202210464017)。

摘　　要：搭建了一种基于激光雷达/深度相机融合的同步定位与建图实验教学平台,实验平台由Nano和STM32运动控制器组成,平台配备有奥比中光Astra S深度相机、激光雷达、陀螺仪、里程计等,通过传感器采集周围环境信息,并进行机器人运动学解算,实现了机器人运动学控制、激光雷达和深度相机的数据采集、激光雷达/深度相机融合、同步定位与建图等功能。控制系统基于ROS系统进行开发,具有可移植性强、支持二次开发等特点。本实验教学平台能够有效快速地构建场景的二维/三维地图,有助于增强学生的实践动手能力,理解相关算法具体内容,取得了良好的教学效果。This paper presents an experimental teaching platform for simultaneous localization and mapping(SLAM)based on the fusion of lidar and depth camera data.The platform consists of a Nano computer and an STM32 motion controller,and is equipped with an Orbbec Astra S depth camera,a lidar,a gyroscope,an odometer,and other sensors.The platform collects environmental information through the sensors,solves the robot kinematics,controls the robot motion,and performs lidar/depth camera fusion,SLAM,and data visualization.The control system is developed based on the Robot Operating System(ROS),which has high portability and supports secondary development.This platform can effectively and quickly construct 2D/3D maps of scenes,which helps to enhance students’practical skills,understand the relevant algorithms,and achieve good teaching outcomes.

关 键 词：机器人 激光雷达 地图构建 多传感器融合 实验教学平台 

分 类 号：TN958.98[电子电信—信号与信息处理] TP391.4[电子电信—信息与通信工程]