Synchronized 2D SLAM and 3D Mapping Based on Three Wheels Omni-directional Mobile Robot

摘要

In this paper, we design a three wheels Omni-directional mobile robot (TOMR) and propose a method of simultaneous construction of 2D and 3D maps based on the mobile robot. To be more specific, we use information from a laser and a kinect to build 2D grid maps and 3D environment, respectively. The particle filter algorithm is used to achieve the pose of the robot, together with the OctoMap which is generated from a 3D point cloud map, to construct the 2D and 3D maps. An asymmetric environment is employed to test our proposed method and some state-of-the-art methods like RGB-D SLAM and ORB-SLAM. The experimental results show that the proposed method is efficient for synchronized 2D and 3D mapping and has better performance than other compared algorithms.