华中科技大学学报（自然科学版）Issue(z1)：337-340,4.DOI:10.13245/j.hust.15S1080
基于视觉里程计的移动机器人三维场景重构
Mobile robot 3D environment reconstruction based on visual odometer
摘要
Abstract
The aim of this paper is to investigate the 3D (three dimensional)environment reconstruc-tion for mobile robot without using GPS (global positioning system).Based on the real-time pose esti-mation by using the stereo,we used an inlier selection approach developed from the max-clique to im-prove the performance of RANSAC,then computed the 3D pose with a robust pose estimation algo-rithm.A 3D laser system to achieve an indoor 3D point cloud data collection was designed and devel-oped.The multi-view point cloud was further merged based on the reliable pose information obtained from the visual odometer,which is able to provide an effective large scale 3D environment reconstruc-tion map.The proposed approach was simulated and tested on the SmartROB platform in indoor rooms,corridors and halls.The results has represented and verified the effectiveness and practicabili-ty of the approach.关键词
移动机器人/视觉里程计/三维激光/三维场景重构/位姿估计Key words
mobile robot/visual odometer/3D laser/3D environment reconstruction/pose estimation分类
信息技术与安全科学引用本文复制引用
吴乃亮,闫飞,卜春光..基于视觉里程计的移动机器人三维场景重构[J].华中科技大学学报（自然科学版）,2015,(z1):337-340,4.基金项目
“十二五”国家科技支撑计划重点资助项目（2013BAK03B01）． （）
