Authors: Yanli Liu; Mengyu Zhu
Addresses: School of Information Engineering, East China Jiaotong University, Nanchang 330013, China ' School of Information Engineering, East China Jiaotong University, Nanchang 330013, China
Abstract: Simultaneous localisation and mapping (SLAM) of a robot is the key to achieve autonomous control of the robot and also a significant topic in the field of mobile robotics. Aiming at 3D modelling of indoor complex environment, this paper presents a fast three-dimensional simultaneous location and mapping method for mobile robots. On the basis of the HOG-Man algorithm which is the core of RGB-D SLAM algorithm, the open-source software combining the RGB-D sensor like Kinect with the wheeled mobile robot is used to obtain the odometry data, and then the information of the location is matched through the image feature extraction and in the end the map is optimised by HOG-Man algorithm. Finally, the feasibility and effectiveness of the proposed method are verified by experiments in indoor environment.
Keywords: RGB-D SLAM; mobile robot; HOG-Man algorithm; Kinect.
International Journal of High Performance Computing and Networking, 2019 Vol.14 No.3, pp.376 - 384
Received: 31 Jul 2017
Accepted: 30 Jan 2018
Published online: 09 Sep 2019 *