华中科技大学学报（自然科学版）Issue(1)：103-109,7.DOI:10.13245/j.hust.140122
基于RGB-D相机的移动机器人三维SLAM
摘要
Abstract
A fast method for mobile robot 3D SLAM(simultaneous localization and mapping)was pres-ented to address the problem of 3D modeling in complex indoor environment.Environment texture and 3D data were captured by RGB-D camera.According to the camera calibration model and the image feature extraction and matching procedure,the association between two 3D point clouds was estab-lished.On the basis of the RANSAC(random sample consensus)algorithm,the correspondence-based iterative closest point arithmetic model was solved to realize the robot′s precise localization effectively. With the keyframe-to-frame selection mechanism,the 3D grid map method and the unique normal characteristic of a spatial point were used for maintaining and updating the global map.Experimental results demonstrate the feasibility and effectiveness of the proposed algorithm in the indoor environ-ment.关键词
移动机器人/三维地图创建/同时定位与地图创建/迭代最临近点/关键帧Key words
mobile robot/3D (three dimensional)map building/simultaneous localization and map-ping/iterative closest point/keyframe分类
信息技术与安全科学引用本文复制引用
贾松敏,王可,郭兵,李秀智..基于RGB-D相机的移动机器人三维SLAM[J].华中科技大学学报（自然科学版）,2014,(1):103-109,7.基金项目
国家自然科学基金资助项目（61175087，61105033）；北京市自然科学基金重点资助项目（B 类， KZ201110005004）；教育部留学回国人员科研启动基金资助项目． （）
