2D Grid map for navigation based on LCSD-SLAM

Abstract

This paper establishes a 2D grid map based on the semi-direct method, which can be used for navigation, sweeping robot and other applications. In order to implement the method with the help of the ROS platform, on the monocular semi-direct LCSD-SLAM method, after obtaining the key frames, a 2D grid map is constructed. Most of the current 3D to 2D map conversion research uses octrees for conversion, but we have proposed a threshold-based method, which is based on a monocular semi-direct method. After LCSD-SLAM obtains the key frame, through calculation, the 3D map is converted into a 2D grid map in real time. The A* path planning algorithm can be used to navigate in the 2D grid map. Experimental results show that the proposed method can successfully establish a 2D grid map and can be effectively applied in subsequent navigation.