Synchronous localization and map construction of indoor mobile robot based on the fusion of depth camera and 2D lidar

Qianli Wei; Chao Chen; Mingxi Huang; Xueting Pang

doi:10.1117/12.3033337

29 July 2024 Synchronous localization and map construction of indoor mobile robot based on the fusion of depth camera and 2D lidar

Qianli Wei, Chao Chen, Mingxi Huang, Xueting Pang

Author Affiliations +

Proceedings Volume 13214, Fourth International Conference on Digital Signal and Computer Communications (DSCC 2024); 132140E (2024) https://doi.org/10.1117/12.3033337
Event: Fourth International Conference on Digital Signal and Computer Communications (DSCC 2024), 2024, Guangzhou, China

Abstract

In the research of synchronous location and map construction of indoor mobile robots, lidar is often used to build maps. However, three-dimensional lidar is expensive, two-dimensional lidar can only detect information above the plane, and the map constructed by depth camera is poor, so this paper proposes a low-cost map construction method based on the fusion of depth camera and lidar. First, the joint calibration method is used to make the two sensors in the same coordinate system, then the depth image is converted into laser data, and then the data is fused by selecting the minimum value method with error processing under the same Angle. Finally, the fusion data is released to the Gmapping mapping algorithm for the construction of two-dimensional maps. The effectiveness of the proposed method is verified by setting up gazebo simulation environment, and the experiment shows that the fusion method can build a complete map.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Qianli Wei, Chao Chen, Mingxi Huang, and Xueting Pang "Synchronous localization and map construction of indoor mobile robot based on the fusion of depth camera and 2D lidar", Proc. SPIE 13214, Fourth International Conference on Digital Signal and Computer Communications (DSCC 2024), 132140E (29 July 2024); https://doi.org/10.1117/12.3033337

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KEYWORDS

LIDAR

Cameras

Data fusion

Data conversion

Sensors

Calibration

Imaging systems

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