Robot indoor navigation point cloud map generation algorithm based on visual sensing

• Published in: Journal of intelligent systems Vol. 32; no. 1; pp. 032171 - 6
• Main Authors: Zhang, Qin, Liu, Xiushan
• Format: Journal Article
• Language: English
• Published: Berlin De Gruyter 07.04.2023; Walter de Gruyter GmbH
• Subjects: 68T07; Accuracy; Algorithms; Cameras; Frames per second; Indoor environments; Indoor navigation; inertial measurement unit; Inertial navigation; Inertial platforms; Kalman filters; Mapping; point cloud map; robot indoor navigation; Robots; Route planning; Sensors; Three dimensional models; visual sensor; visual SLAM algorithm; Yaw

At present, low-cost Red Green Blue Depth (RGB-D) sensors are mainly used in indoor robot environment perception, but the depth information obtained by RGB-D cameras has problems such as poor accuracy and high noise, and the generated 3D color point cloud map has low accuracy. In order to solve thes...