视觉SLAM技术在室内移动机器人导航中的应用与挑战  

Application and Challenges of Visual SLAM Technology in Indoor Mobile Robot Navigation

作　　者：衡蜓 HENG Ting(Jinzhong Information College,Jinzhong,Shanxi 030800,China)

机构地区：[1]晋中信息学院,山西晋中030800

出　　处：《移动信息》2025年第4期379-381,共3页Mobile Information

基　　金：山西省高等学校科技创新项目:室内移动机器人自主导航关键技术研究(2024L528)。

摘　　要：视觉SLAM(Simultaneous Localization and Mapping)技术在室内移动机器人导航领域具备巨大的应用潜力。该技术通过摄像头获取视觉信息,能实时构建环境地图并定位自身位置,具备高精度环境感知、多传感器融合和实时性较强等优势。然而,在复杂的室内环境中,光照变化、动态障碍物、纹理缺失等对视觉SLAM技术提出了严峻挑战。此外,计算资源的消耗与累积误差也影响了其应用效果。为应对这些挑战,文中对算法流程、多传感器数据融合及计算速度进行了优化。Visual SLAM(Simultaneous Localization and Mapping)technology has strong application potential in the field of indoor mobile robot navigation.The technology obtains visual information through the camera,can build environmental maps and locate its own position in real time,and has the advantages of high-precision environmental perception,multi-sensor fusion and strong real-time performance.However,in complex indoor environments,lighting changes,dynamic obstacles,and texture loss pose severe challenges to visual SLAM technology.In addition,the consumption and cumulative errors of computing resources also affect its application effect.In order to meet these challenges,the algorithm flow,multi-sensor data fusion,and computing speed are optimized in this paper.

关 键 词：视觉SLAM 室内导航 移动机器人 特征提取 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]