机械科学与技术2026，Vol.45Issue(8)：1307-1314,8.DOI:10.13433/j.cnki.1003-8728.20240156
激光雷达与RGB-D相机融合的区域图像算法SLAM
Region-based Image Algorithm SLAM with Fusion of LiDAR and RGB-D Camera
罗舒涵 1汤奥斐 1王琪龙 1王宁 1弓泽晨 1师碧波1
作者信息
- 1. 西安理工大学 机械与精密仪器工程学院,西安 710048
- 折叠
摘要
Abstract
In order to efficiently assist the rescue team in quickly locating trapped people after the fire disaster,this paper uses a mobile robot equipped with Raspberry Pi 4B controller,lidar,RGB-D camera,IMU(Inertial measurement unit)sensor and wheeled odometer to construct a high-precision map of the indoor environment after the fire.Aiming at the problem of low data density of single-line lidar,the suggested distribution of Gmapping algorithm is redesigned,and its resampling method is optimized.Furthermore,a region image algorithm is proposed to fuse 2D lidar data with depth camera data.Simulation results indicate that the improved Gmapping algorithm significantly enhances particle convergence speed,and the fusion algorithm outperforms single LiDAR and single RGB-D camera mapping in terms of mapping accuracy.关键词
移动机器人/多传感器融合/地图构建/激光雷达/RGB-D相机Key words
mobile robot/multi-sensor fusion/map construction/LiDAR/RGB-D cameras分类
信息技术与安全科学引用本文复制引用
罗舒涵,汤奥斐,王琪龙,王宁,弓泽晨,师碧波..激光雷达与RGB-D相机融合的区域图像算法SLAM[J].机械科学与技术,2026,45(8):1307-1314,8.
