VIO-wheel-stereo mapping: an indoor room structure mapping system using monocular camera, IMU, wheel odometry and stereo

Abstract

This paper proposes an indoor house structure mapping system, which mainly studies the SLAM positioning, laser depth binocular camera locally built figure, robot path planning, and other issues. And the three-dimensional indoor autonomous robot is built based on called VINS system. With wheel odometry and sensor fusion, this paper realizes the robot chassis indoor high-precision positioning, indoor autonomous robots scanning walls. Finally, through the integration of several modules, the chassis robot can achieve the function of indoor independent three-dimensional drawing. This system is successfully applied on a 4-wheel mecanum small car. I take a 20 square meters underground parking lot in as the experiment area. The test shows that the system of displacement drift error within 2% and the ratio of the overall path, room-built figure area error within 3%, loopback positioning error is less than 0.1 m, the robot can work independently to complete the building figure. In the end, the system is evaluated and a commercial indoor 3D drawing scheme is proposed.