基于激光测距仪和单目视觉的移动机器人SLAM

2007 14th International Conference on Mechatronics and Machine Vision in Practice Pub Date : 2007-12-01 DOI:10.1109/MMVIP.2007.4430722

Sheng Fu, Hui-ying Liu, Lufang Gao, Yu-xian Gai

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引用次数: 43

摘要

定位和地图构建是自主移动机器人在没有事先地图的情况下进行室内导航的两项基本任务。本文介绍了一种用于室内环境下自主移动机器人同步定位与制图的移动机器人系统。由于激光测距仪和CCD相机的传感器建模不同，采用加权最小二乘拟合和Canny算子分别提取特定的二维环境特征和垂直边缘。提出了利用卡尔曼滤波(KF)同时进行定位和网格地图构建的方法。在哈尔滨工业大学(威海)生产的紫星移动机器人上实现了定位技术，该技术在探索和测绘时正确地定位了机器人。

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SLAM for mobile robots using laser range finder and monocular vision

Localization and map building are two essential tasks for an autonomous mobile robot's indoor navigation without a prior map. This paper describes a mobile robot system designed for simultaneous localization and mapping (SLAM) for an autonomous mobile robot in an indoor environment. Due to variant sensor modeling for laser range finder and CCD camera, weighted least square fitting and Canny operator are used to extract certain two-dimensional environmental features and vertical edges respectively. Using Kalman filtering (KF) to localization and grid map building simultaneously are also presented. When implemented on a Zixing mobile robot produced by Harbin Institute of Technology (Weihai), the localization technique correctly localized the robot while exploring and mapping.

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2007 14th International Conference on Mechatronics and Machine Vision in Practice

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