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A 2D Mapping Method Based on Virtual Laser Scans for indoor robots

International Journal of Automation and computing 2021年第5期18卷 747-765页

作者： Xu-Yang Shao Guo-Hui Tian Ying Zhang School of Control Science and Engineering Shandong UniversityJinan 250061China

The indoor robots are expected to complete metric navigation tasks safely and efficiently in complex environments, which is the essential prerequisite for accomplishing other high-level operation tasks. 2 D occupancy grid maps are sufficient to support the robots in avoiding all obstacles in the environments during navigation. However, the maps based on normal laser scans only reflect a horizontal slice of the environment, which may cause the problem of some obstacles missing or misinterpreting their exact boundaries,thereby threatening the safety and efficiency of robot navigation. This paper presents a 2 D mapping method based on virtual laser scans to provide a more comprehensive representation of obstacles for indoor robot navigation. The resulting maps can accurately represent the top-down projected contours of all obstacles no matter where their vertical positions are. The virtual laser scans are initially generated from raw data of an RGB-D camera based on the filtering, projection, and polar-coordinate scanning. The scans are fed directly to the laser-based simultaneous localization and mapping(SLAM) algorithms to update the current map and robot position. Two auxiliary strategies are proposed to further improve the quality of maps by reducing the impact of the narrow field of view and the blind zone of the RGB-D camera on the observations. In this paper, the improved virtual laser generation method makes the extracted 2 D observations fit the laser-based SLAM algorithms, and two auxiliary strategies are novel ways to improve map quality. The generated maps can reflect the comprehensive obstacle information in indoor environments with good accuracy. The comparative experiments are carried out based on four simulation scenarios and three real-world scenarios to prove the effectiveness of our 2 D mapping method.

关键词： 2D mapping indoor robots virtual laser mapping auxiliary strategies safe navigation

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Visual SLAM Incorporating Wheel Odometer for indoor robots 36

Visual SLAM Incorporating Wheel Odometer for Indoor Robots

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第36届中国控制会议

作者： Jing Wang Zongying Shi Yisheng Zhong Department of Automation Tsinghua University

ISBN: (纸本)9781538629185

An approach for incorporation of a wheel odometer in monocular visual SLAM（Simultaneous Localization and Mapping） for indoor robots is proposed in this *** is based on nonlinear optimization parameterized in 6D0F（Degrees-ofFreedom） manifold SE（3）,and constrains the robot poses to be in 3DoF ***,to deal with the problem that in complicated indoor environment where the tracking of visual SLAM may easily get lost in some scenes with hardly any features,the approach creates new maps when new features are available and thus continuing estimating poses and feature positions to improve the *** odometer can provide relative poses between maps,and when image overlaps are detected,the maps can be merged to a consistent *** are conducted on an indoor robot platform equipped with an upward-looking camera,and experimental results show the effectiveness of the proposed approach.

关键词： SLAM indoor robots optimization based sensor fusion

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