Research on SLAM Algorithm of Mobile Robot Based on the Fusion of 2D LiDAR and Depth Camera

Research on SLAM Algorithm of Mobile Robot Based on the Fusion of 2D LiDAR and Depth Camera

This paper proposes a new Simultaneous Localization and Mapping (SLAM) method on the basis of graph-based optimization through the combination of the Light Detection and Ranging (LiDAR), RGB-D camera, encoder and Inertial Measurement Unit (IMU). It can conduct joint positioning of four sensors by ta...

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Bibliographic Details
Main Authors: Lili Mu, Pantao Yao, Yuchen Zheng, Kai Chen, Fangfang Wang, Nana Qi
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
SLAM
RGB-D
graph-based optimization
multi-sensor fusion
Online Access:https://ieeexplore.ieee.org/document/9178302/

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