现代信息科技2025，Vol.9Issue(5)：125-128,133,5.DOI:10.19850/j.cnki.2096-4706.2025.05.023
基于ORB-SLAM3单目视觉的稀疏地图构建
Sparse Map Construction Based on ORB-SLAM3 Monocular Vision
摘要
Abstract
This paper introduces a mapping method based on ORB-SLAM3 sparse map,which enables the robot to realize the construction of sparse map without radar.The robot mainly has two core control units of NVIDIA Jetson Nano and STM32.The former is mainly used to run the ROS system and process the camera data connected to it.The latter is mainly used to control the chassis motion and process the ultrasonic sensor and gyroscope data connected to it.The two processors communicate through a serial port.Through the barrage camera,the robot uses the ORB feature as the core of the visual SLAM,matches feature points through the key frames of different angles,realizes the visual odometry,and performs tracking and loop closure detection,and finally completes the construction of the sparse map.关键词
ROS/ORB/SLAMKey words
ROS/ORB/SLAM分类
信息技术与安全科学引用本文复制引用
忽晓伟,薛迪杰,孙豫..基于ORB-SLAM3单目视觉的稀疏地图构建[J].现代信息科技,2025,9(5):125-128,133,5.基金项目
河南省科技攻关项目(232102220071) （232102220071）
河南省2022年民办普通高等学校学科专业建设资助项目(教办政法[2021]255号,通信工程专业) （教办政法[2021]255号,通信工程专业）
郑州西亚斯学院2024年度校级科研一般项目(2024XKD046) （2024XKD046）
