SLAM Method Based on Multi-Sensor Information Fusion

摘要

SLAM is a key technology in the field of mobile robot. However, it is difficult to meet the requirements of positioning accuracy by using single sensor to locate and navigate for a mobile robot. Multi-sensor information fusion technology has become an important method to solve the problem of mobile robot positioning and navigation. By establishing information fusion model, building sensor experimental platform such as laser radar, ultrasonic ranging module and monocular camera, based on the laser RBPF-SLAM algorithm, a SLAM algorithm based on multi-sensor information fusion is proposed. The mobile robot can locate and construct road sign map at the same time. The laser RBPF-SLAM positioning and monocular visual positioning are advanced by using the information fusion model Information fusion under the maximum posterior probability criterion. Through experiments, the accuracy, effectiveness and practicability of the proposed method are verified.