机械与电子2017，Vol.35Issue(4)：70-74,5.
基于XTION的机器人室内三维地图实时创建
XTION-based Real Time Indoor 3D Map Building for Robot
摘要
Abstract
On the indoor 3D map building for mobile robot, this paper, based on the robot map building system of XTION RGB-D camera, proposes a method of real time 3D map building with visual odometry and Bayesian closed loop detection, which requires the following process within the framework of the robot operating system (ROS): Firstly, the mobile robot with the XTION obtains the three-dimensional image of the environment, then uploads it to host computer through WIFI;Secondly, the host computer uses SURF algorithm to extract and match the feature points of RGB-D image with PC software;Thirdly, use the visual odometry to carry out the pose estimation of the robot and Bayesian closed loop detection to eliminate cumulative error;Lastly, apply g2o method to optimize the 3D point cloud image then build a complete 3D map.Under an indoor experiment, the robot map building system creates a complete three-dimensional map of the indoor environment, which clearly describes the real scene and contours of indoor objects, what's more, the pose estimation of robot is proved accurate.Thus, the experiment results support the method of using visual odometry and Bayesian closed loop detection to create real time 3D map.关键词
XTION/三维地图创建/ROS/SURF/贝叶斯闭环检测/g2oKey words
XTION/3D map building/ROS/SURF/Bayesian closed loop detection/g2o分类
信息技术与安全科学引用本文复制引用
李建勇,刘雪梅,刘雄..基于XTION的机器人室内三维地图实时创建[J].机械与电子,2017,35(4):70-74,5.基金项目
2015年陕西省教育厅专项科研计划(15JK2164) （15JK2164）
