The Algorithm of EKF-SLAM Using Laser Scanning System and Fisheye Camera

Abstract

This article describes an algorithm, which builds a three-dimensional map of space according to data of the laser scanning system and the fish eye camera. The algorithm is an integral part of the SLAM algorithm using an extended Kalman filter, which is implemented on a mobile robotic platform, modeled in the ROS environment. The results of the researches of this system in the modeling environment of gazebo are also presented.