现代制造工程Issue(4)：129-136,8.DOI:10.16731/j.cnki.1671-3133.2026.04.015
基于ROS和ORB-SLAM3算法的智能行车系统研究
Research on intelligent crane system based on ROS and ORB-SLAM3 algorithm
摘要
Abstract
In view of the technical bottlenecks of high deployment complexity and poor portability faced by existing intelligent crane systems in industrial scenarios,this study proposes an intelligent crane system based on the Robot Operating System(ROS)and the ORB-SLAM3 algorithm.Through functional analysis,the overall architecture of the intelligent crane system is constructed.Specifically,a depth camera is first utilized to capture real-time environmental information of material piles.Subse-quently,the ORB-SLAM3 algorithm is optimized by incorporating a dense mapping thread and a safe material-picking thread,thereby enabling real-time crane positioning,three-dimensional reconstruction of the material storage area,and planning of target material-picking points.Finally,by leveraging the standardized motion control interface of ROS,the stable and reliable operation of the crane is ensured.Simulation experiments demonstrate that the proposed intelligent crane system achieves high accuracy in positioning and three-dimensional reconstruction,and is capable of generating safe and efficient material-picking strategies in real time.Furthermore,the distributed architecture of ROS and the rapid deployment of the depth camera contribute to reducing de-ployment complexity and enhancing the portability of the intelligent crane system.The research findings are anticipated to provide a feasible technical approach for addressing the long-standing issues of high deployment complexity and poor portability within the industry.关键词
智能行车系统/机器人操作系统/ORB-SLAM3算法/深度相机Key words
intelligent driving system/Robot Operating System(ROS)/ORB-SLAM3 algorithm/depth camera分类
机械制造引用本文复制引用
涂福泉,肖雪亭,黄煜,刘祥,闾丰翼..基于ROS和ORB-SLAM3算法的智能行车系统研究[J].现代制造工程,2026,(4):129-136,8.基金项目
国家自然科学基金项目(52375061) （52375061）
