太原理工大学学报2024，Vol.55Issue(4)：640-649,10.DOI:10.16355/j.tyut.1007-9432.20230635
基于MCMCC改进ORB-SLAM3的移动机器人导航
Improved ORB-SLAM3 Based on MCMCC for Mobile Robot Navigation
摘要
Abstract
[Purposes]The sparse feature map established by using VSLAM cannot be directly used for navigation,and the existing methods of converting sparse feature maps into grid maps for navigation suffer from low accuracy of map construction,resulting in the failure to achieve ac-curate navigation.An improved ORB-SLAM3 navigation method is proposed based on multi-con-vex combined maximum correntropy criterion(MCMCC),which can realize the construction,positioning,and navigation of indoor real-time mapping on the embedded device with only a RGB-D camera.[Methods]The proposed method uses the back-end optimization algorithm based on MCMCC to combat the influence of non-Gaussian noises and to further improve the mapping ac-curacy of ORB-SLAM.Subsequently,in the process of converting the sparse feature map into a grid map,the grid map is updated with the loop detection information to improve the grid map accuracy for accurate navigation.[Findings]Furthermore,simulation and real scene experiments have been carried out to verify the effectiveness of the proposed method.关键词
VSLAM/后端优化/MCMCC/栅格地图/回环更新/导航Key words
VSLAM/back-end optimization/MCMCC/raster map/loop renewal/navigation分类
信息技术与安全科学引用本文复制引用
赵亮,王婷,秦佳宁,续欣莹,程兰..基于MCMCC改进ORB-SLAM3的移动机器人导航[J].太原理工大学学报,2024,55(4):640-649,10.基金项目
国家自然科学基金资助项目(62073232,61973226) （62073232,61973226）
山西省科技合作交流基金项目(202104041101030) （202104041101030）
