计算机应用研究2016，Vol.33Issue(10)：2970-2972,3006,4.DOI:10.3969/j.issn.1001-3695.2016.10.022
一种融合激光和深度视觉传感器的S LAM地图创建方法
Map-building approach based on laser and depth visual sensor fusion SLAM
摘要
Abstract
When robots locate themselves in complex and uncertainty environments,the simultaneous localization and mapping (SLAM)system with a single sensor is poor in accuracy and reliability,and susceptible to the interference.This paper presen-ted a method of data fusion for laser and depth visual based on Bayesian estimation SLAM,which were interpreted by a probabi-listic heuristic model that abstracted the beam into a ray casting to an occupied grid cell and take full advantage of redundance, features information of consistency proposed and fusion.In order to update the occupancy grid,it applied the Bayesian estima-tion method to both sensor data arrays.Experiment based on ROS study shows that multi-sensor based on Beyesian yields a sig-nificant improvement between accuracy and robustness about SLAM.关键词
贝叶斯/地图创建/深度视觉/多传感器融合/导航Key words
Bayes/map-building/depth vision/multi-sensor fusion/navigation分类
信息技术与安全科学引用本文复制引用
张毅,杜凡宇,罗元,熊艳..一种融合激光和深度视觉传感器的S LAM地图创建方法[J].计算机应用研究,2016,33(10):2970-2972,3006,4.基金项目
科技部国际合作资助项目（2010DFA12160）；重庆市科技攻关资助项目 （）
