Adaptive multi-fusion SLAM method for different sensor data

• Main Authors: CHEN YANG, XU JIPING, WANG LI, LU YANG, YU JIABIN, CHEN ZHIHAO, ZHAO ZHIYAO, WU JIGUANG, SUN QIAN
• Format: Patent
• Language: Chinese; English
• Published: 11.04.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; ELECTRIC DIGITAL DATA PROCESSING; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention discloses a self-adaptive multi-fusion SLAM (Simultaneous Localization and Mapping) method for different sensor data, and belongs to the field of autonomous navigation of mobile robots. The method comprises the following steps: firstly, acquiring and processing sensor data of the mobile robot, extracting features of an image acquired by a depth camera, and generating global depth visual information and local depth visual information; and then performing point cloud matching on the laser radar data, the global depth visual information and the local depth visual information by using an improved IMLS-ICP algorithm to generate a point cloud map, and performing data fusion by using an improved fuzzy adaptive UKF algorithm to obtain the pose of the mobile robot. And finally, carrying out closed-loop detection on the motion track of the mobile robot, and carrying out joint optimization by taking the pose of the robot, the point cloud map and a closed-loop detection result as constraints to obtain a pat