RGB-D Sensor Based Mobile Robot SLAM in Indoor Environment

摘要：

　　A simultaneous localization and mapping(SLAM)approach based on RGB-D sensor in indoor environment is presented in this paper.The S-NARF feature of point cloud was extracted,and then used for point cloud registration.In particular,a semi-random search strategy is proposed for the loop closures detection.The poses estimation was optimized under the g2o framework.The experiments demonstrate that the approach can effectively solve SLAM problem in indoor environment and the poses estimation have met the demand for precision.

关键词： RGB-D Sensor SLAM Semi-Random Search Loop Closure

作者: Lyu Qiang Liu Feng Wang Xiaolong Wang Guosheng

作者单位: Department of Control Engineering,Academy of Armored Force Engineering,Beijing 100072,China

会议类型: 国际会议

会议名称: 第26届中国控制与决策会议(2014 CCDC)

会议地点: 长沙

会议语种:英文

页码: 3848-3852

在线出版日期: 2014-05-31（万方平台首次上网日期，不代表论文的发表时间）