A Mobile Robot Mapping Method Integrating Lidar and Depth Camera

摘要

Abstract For mobile robots in uncertain and complex environments, a single sensor obtains a single set of environmental information, creates maps with low accuracy, is easily disturbed by external factors, and easily collides with obstacles in the navigation process. In this paper, we propose a depth camera and LiDAR fusion map building method, which firstly collects data using the LiDAR and depth camera on board the mobile robot, and then preprocesses the collected radar data and depth data and builds a 2D local environment map using RTAB-MAP algorithm. Finally, the local maps are fused using a voxel filter to stitch together a complete global map to complete the map construction. Experimental validation on a ROS-based mobile robot platform shows that the map built using multi-sensor fusion is more complete, presenting more comprehensive environmental information and laying the foundation for subsequent navigation.