一种基于RGB-D相机的同步定位与制图方法

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI:10.1109/ICARCV.2016.7838786

Xin Liu, B. Guo, Chao Meng

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引用次数: 5

摘要

自主无人机必须依靠导航系统在室内环境中飞行。然而，传统的导航系统如GPS无法在室内环境中使用。采用基于RGB-D相机的同时定位与制图(SLAM)方法解决了这一问题。本文采用RGB-D SLAM算法对摄像机进行定位，建立环境的三维地图。详细介绍了该算法的框架和实现过程。实验表明，RGB-D SLAM算法可以取得较好的效果。

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A method of simultaneous location and mapping based on RGB-D cameras

Autonomous UAV must rely on the navigation system to fly in the indoor environment. However, the traditional navigation system such as GPS cannot be used in the indoor environment. A method of Simultaneous Location and Mapping (SLAM) based on RGB-D cameras is used to solve this matter. We adopt the RGB-D SLAM algorithm to locate the camera and build the 3D map of the environment in this paper. The framework and process of the algorithm are described in detail. The experiments show that the RGB-D SLAM algorithm can achieve good results.

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2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)

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