An integrated 3D mapping approach based on RGB-D for a multi-robot system

摘要

This paper implements an multi-robot mapping approach based on Robot Operating System (ROS). The proposed system has Multi-robot Simultaneous Localization and Mapping Subsystem (MSLM), Integrated Map Subsystem (IMS) and Human-computer interaction (HCI) subsystem. MSLM is responsible for receiving user commands into robot motion control signals and individually controlling two robots to move and SLAM. The MSLM subsystem localizes object and scenes by mapping object and scenes model and then extracts features information. HCI not only provides an easy way for users to view 2D and 3D maps but provides a control interface to move the robots to specified location without any guiding.