基于视觉SLAM的矿井救援无人机建图研究  

Research on Mine Rescue UAV Mapping Based on Visual SLAM

作　　者：张强羽 王永兰[1] Zhang Qiangyu

机构地区：[1]内蒙古工业大学信息工程学院,内蒙古呼和浩特010080

出　　处：《工业控制计算机》2024年第6期41-43,共3页Industrial Control Computer

摘　　要：针对在矿井事故发生后,为了弥补视野不足,高效地开展灾后勘测和搜救任务,使用开源ORB-SLAM3算法和深度相机,结合使用无人机开发平台,对井下无人机定位以及矿井环境的建图进行研究。分别在有照明和昏暗条件下进行模拟试验,结论得到无人机的飞行轨迹,为实际的矿井救援过程提供了误差精确的运动轨迹与位姿地图。In view of the occurrence of mine accidents,in order to make up for the lack of vision and efficiently carry out post-disaster survey and search and rescue tasks,the open source ORB-SLAM3 algorithm and depth camera are used,combined with the use of UAV development platform,to study the underground UAV positioning and mine environment mapping.The simulation experiments are carried out under the conditions of light and dark respectively,and the flight trajectory of the UAV is obtained,which provided the accurate motion trajectory and pose map for the actual mine rescue process.

关 键 词：SLAM 无人机 矿井生产 定位建图 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TD77[自动化与计算机技术—计算机科学与技术]